WO2022041014A1 - 云台及其控制方法、设备,拍摄装置、系统和存储介质 - Google Patents
云台及其控制方法、设备,拍摄装置、系统和存储介质 Download PDFInfo
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- WO2022041014A1 WO2022041014A1 PCT/CN2020/111528 CN2020111528W WO2022041014A1 WO 2022041014 A1 WO2022041014 A1 WO 2022041014A1 CN 2020111528 W CN2020111528 W CN 2020111528W WO 2022041014 A1 WO2022041014 A1 WO 2022041014A1
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- offset
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- angular velocity
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- 238000000034 method Methods 0.000 title claims abstract description 71
- 238000004590 computer program Methods 0.000 claims description 30
- 238000012545 processing Methods 0.000 claims description 11
- 238000013528 artificial neural network Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 13
- 238000005070 sampling Methods 0.000 description 6
- 241000282326 Felis catus Species 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 4
- 230000006399 behavior Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000013527 convolutional neural network Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
Definitions
- the present application relates to the technical field of photographing control, and in particular, to a pan/tilt head and its control method, equipment, photographing device, system and storage medium.
- the application of the gimbal is more and more extensive, among which, it is widely used in the field of shooting.
- the user can shoot various forms and scenes through the handheld gimbal.
- the handheld gimbal can adjust the shooting direction of the camera to follow the shooting target.
- the present application provides a pan-tilt head and its control method, equipment, shooting device, system and storage medium, aiming at solving the technical problems of shooting a shooting target, such as the shooting target easily running out of the screen.
- an embodiment of the present application provides a control method for a pan/tilt, where the pan/tilt can be equipped with a photographing device, and the control method includes:
- the PTZ is controlled to adjust the posture of the photographing device according to the offset angle, so that the target object is located in a preset area in the image.
- an embodiment of the present application provides a pan/tilt, the pan/tilt can be equipped with a photographing device, and the pan/tilt includes one or more processors, which work individually or together, and are configured to perform the following steps:
- the PTZ is controlled to adjust the posture of the photographing device according to the offset angle, so that the target object is located in a preset area in the image.
- an embodiment of the present application provides a control device for a pan/tilt, the pan/tilt can be equipped with a photographing device, and the control device includes one or more processors, which work individually or collectively, and are used to execute the following step:
- the PTZ is controlled to adjust the posture of the photographing device according to the offset angle, so that the target object is located in a preset area in the image.
- an embodiment of the present application provides a photographing device, the photographing device can be mounted on a pan/tilt head, and the photographing device includes one or more processors, which work individually or together, and are configured to perform the following steps:
- the PTZ is controlled to adjust the posture of the photographing device according to the offset angle, so that the target object is located in a preset area in the image.
- an embodiment of the present application provides a photographing system, the photographing system includes a gimbal and a photographing device mounted on the gimbal, the photographing system includes one or more processors, individually or collectively job to perform the following steps:
- the PTZ is controlled to adjust the posture of the photographing device according to the offset angle, so that the target object is located in a preset area in the image.
- an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the foregoing method.
- the embodiments of the present application provide a pan-tilt head and a control method and device thereof, a photographing device, a system and a storage medium.
- the target is determined according to an offset distance between a target object and a preset position in an image photographed by the photographing device.
- FIG. 1 is a schematic flowchart of a method for controlling a pan-tilt head provided by an embodiment of the present application
- Fig. 2 is the schematic diagram that the photographing device is mounted on the head
- Fig. 3 is the schematic diagram that the control device of the PTZ is mounted on the PTZ;
- Fig. 5 is the schematic diagram of view angle
- 6 is a schematic diagram of offset distance and offset angle in one embodiment
- FIG. 7 is a schematic block diagram of a pan/tilt provided by an embodiment of the present application.
- FIG. 8 is a schematic block diagram of a control device of a pan/tilt platform provided by an embodiment of the present application.
- FIG. 9 is a schematic block diagram of a photographing apparatus provided by an embodiment of the present application.
- FIG. 10 is a schematic block diagram of a photographing system provided by an embodiment of the present application.
- FIG. 1 is a schematic flowchart of a method for controlling a pan/tilt according to an embodiment of the present application.
- the control method of the PTZ is used to control the PTZ to adjust the posture of the photographing device, so that the target object is located in a preset area in the photographed image.
- the camera 20 can be mounted on the pan/tilt 10 .
- the camera 10 is used to stabilize the camera 20 and to change the orientation and angle of the camera 20 .
- the photographing device 20 may include a camera, a camcorder, a mobile phone, a tablet computer, a wearable device, an infrared camera device, an ultraviolet camera device, or other image capturing devices or imaging devices.
- connection part 11 of the pan/tilt head 10 can be connected to the photographing device 20 .
- the photographing device 20 can also be fixedly connected to the gimbal 10 , for example, the photographing device 20 can be integrated with the gimbal 10 , which is not limited here.
- the gimbal 10 has three gimbal axes, which are a yaw axis, a roll axis, and a pitch axis. Each axis is provided with a motor 13, and each axis The motor 13 is used to control the axis to move, so as to stabilize the photographing device 20 and change the orientation and angle of the photographing device 20 .
- the gimbal 10 may also be a single-axis gimbal, a dual-axis gimbal, or a four-axis gimbal or the like.
- the gimbal 10 may include a handheld gimbal.
- the handheld gimbal may include a hand-held portion 12. The user may hold the hand-held portion 12 to move or move with the handheld gimbal and the camera. Keep the gimbal in one position.
- the gimbal 10 may be mounted on an unmanned aerial vehicle or an unmanned vehicle, and at this time, the unmanned aerial vehicle or the unmanned vehicle may move or maintain a certain position with the gimbal 10 and the photographing device 20 .
- control method of the pan/tilt can be applied to the pan/tilt 10 , the camera 20 , and of course, the camera system including the pan/tilt 10 and the camera 20 .
- the pan/tilt 10 is capable of communicating with the control device 30 of the pan/tilt. It is understood that the communication connection may be realized by electrical connection or wireless communication.
- the control method of the PTZ can also be applied to the control device 30 of the PTZ, or the control method can be implemented jointly by the PTZ 10 and the control device 30 of the PTZ.
- the photographing device 20 can also be used as the control device 30 of the PTZ to communicate with the PTZ 10 to implement the control method of the PTZ.
- the control method of the pan/tilt according to the embodiment of the present application includes steps S110 to S140.
- the target object mentioned below may refer to the target object itself, or a bounding box (for example, bounding box) to which the target object belongs. Generated tracking box.
- an image obtained by photographing the target object by the photographing device is acquired.
- the target object in the image can be determined through the target detection process, for example, when a cat is detected in the image, the cat is determined as the target object; or when multiple cats are detected in the image, it can be determined which One or more cats are targeted.
- the photographed image may be displayed on the display screen of the photographing device, and the object corresponding to the selecting operation is determined as the target object according to the user's selecting operation on the object in the image.
- the target objects include pets.
- the target objects can also include people, vehicles, wild animals, unmanned aerial vehicles, unmanned vehicles, and the like.
- step S120 the offset distance between the position of the target object in the field of view of the photographing device and the preset position may also be determined.
- the offset distance between the target object in the image and the preset position may be represented as L1.
- the preset position includes the center point of the image.
- the offset distance between the target object and the preset position may be determined according to the distance between the center of the target object and the center point of the image.
- the offset distance is determined according to a distance between a bounding box (for example, a bounding box) to which the target object belongs and a boundary line of the preset area.
- the gimbal in the follow-up shooting mode, can be controlled to adjust the posture of the shooting device according to the offset distance between the center of the target object in the image and the center point of the image, so that the target object is located in the image In the preset area, for example, the target object can be located in the area where the center point of the image is located.
- the offset distance between the target object in the image and the preset position in at least one direction may be determined.
- the direction includes a first direction parallel to the lateral direction of the image (the length direction of the image) and/or a second direction parallel to the longitudinal direction of the image (the width direction of the image).
- the head includes a yaw axis motor and/or a pitch axis motor.
- the shooting direction of the shooting device can be adjusted to move left or right along the first direction; when the tilt axis motor is rotated, the shooting direction of the shooting device can be adjusted to move up or down along the second direction.
- the yaw axis motor may be controlled to rotate according to the offset distance between the target object in the image and the preset position in the first direction, and/or according to the distance between the target object in the image and the preset position.
- the offset distance in the second direction controls the rotation of the pitch axis motor, so that the target object is located in the preset area in the image.
- S130 Determine, according to the offset distance, an offset angle of the target object relative to the photographing device in the image or in the field of view of the photographing device.
- the gimbal adjusts the posture of the photographing device by controlling the motors of each axis, the position of the target object relative to the photographing device in the image or in the field of view of the photographing device can be determined according to the offset distance.
- the offset angle, and the rotation of the corresponding motor shaft of the gimbal is controlled according to the offset angle, so as to adjust the orientation of the photographing device.
- the determining the offset angle of the target object in the image or in the field of view of the photographing device relative to the photographing device according to the offset distance includes: according to the image The offset distance between the target object and the preset position in one direction, and determine the offset angle of the target object relative to the camera in the image or in the field of view of the camera in the direction .
- the first direction may be determined according to the offset distance between the target object in the image and the preset position in the first direction, and the target object is in the image or in the photographing device.
- the offset angle relative to the photographing device in the field of view, and the rotation of the yaw axis motor is controlled according to the offset angle, and/or according to the offset distance between the target object in the image and the preset position in the second direction , determine the offset angle of the target object relative to the shooting device in the image or the field of view of the shooting device in the second direction, and control the rotation of the pitch axis motor according to the offset angle, so as to make the The target object is located in a preset area in the image.
- the direction may be determined based on the offset distance in a direction in which the target object is in the image or in the field of view of the photographing device and the length of the image in the direction Offset angle relative to the camera.
- the length of the image in the first direction may be represented as L.
- the direction may be determined according to the ratio of the offset distance and the length in a direction where the target object is relative to the photographing device in the image or in the field of view of the photographing device.
- Offset angle For example, the offset ratio of the captured image in the horizontal direction (the first direction) can be determined according to the ratio of the offset distance L1 in the first direction to the length L. It can be understood that, the larger the ratio of the offset distance L1 in the first direction to the length L, the larger the determined offset angle.
- the offset distance and the length in one direction, and the angle of view of the image in the direction it may be determined that the target object is in the image or in the field of view of the photographing device.
- the offset angle relative to the camera it may be determined that the target object is in the image or in the field of view of the photographing device.
- the field of view angle of the image in the first direction can be expressed as HFOV (Horizontal Field of View); when the second When the direction is the vertical direction, the field of view angle in the second direction may be expressed as VFOV (Vertical Field of View).
- the shooting parameters of the shooting device may be acquired, and the viewing angle of the image in each of the directions may be determined according to the shooting parameters.
- the shooting parameters include a diagonal field of view (Diagonal Field of View, DFOV).
- the viewing angle of the image in the direction may be determined according to the diagonal viewing angle and the aspect ratio of the image. For example, if the ratio of the length of the image in the first direction to the length in the second direction is 16:9, the aspect ratio of the image may be 16:9 or 9:16.
- the offset distance in the horizontal direction between the image or the target object in the field of view and the preset position is a
- the ratio of the length of the image in the horizontal direction to the length in the vertical direction is c
- the offset angle ⁇ obj corresponding to the horizontal direction is:
- tan() represents the tangent function
- atan() represents the arc tangent function
- controlling the gimbal according to the offset angle includes: controlling the yaw axis motor to rotate according to the offset angle of the target object relative to the photographing device in the first direction ; and/or control the pitch axis motor to rotate according to the offset angle of the target object relative to the photographing device in the second direction.
- the preset area includes the area where the center point is located, and by controlling the pan/tilt to adjust the posture of the photographing device, the target object can be In the area where the center point of the image is located, the following shooting of the target object is realized.
- the angular velocity of movement of the target object relative to the photographing device may be determined according to the offset angle and the rotation angle of the pan/tilt; the cloud may be controlled according to the angular velocity of movement of the target object relative to the photographing device. stage so that the target object is located in a preset area in the image.
- the offset angle includes the offset angle in the first direction and/or the second direction
- the rotation angle of the pan/tilt head includes the rotation angle of the pan/tilt head in the first direction and/or the second direction
- the moving angular velocity of the target object relative to the photographing device includes the moving angular velocity of the target object relative to the photographing device in a first direction and/or a second direction.
- the first direction is a direction parallel to the lateral direction of the image, that is, a horizontal direction;
- the second direction is a direction parallel to the longitudinal direction of the image, that is, a vertical direction.
- the determining of the moving angular velocity of the target object relative to the photographing device according to the offset angle and the rotation angle of the gimbal includes:
- the moving angular velocity of the target object relative to the photographing device in the direction is determined according to the offset angle in one direction and the rotation angle of the gimbal in the direction.
- the direction includes a first direction parallel to the lateral direction of the image or a second direction parallel to the longitudinal direction of the image.
- the controlling the gimbal according to the offset angle includes: determining the offset angular velocity of the target object relative to the photographing device in the image according to the offset angle; The offset angular velocity controls the pan/tilt.
- the target object is in motion.
- the PTZ is directly controlled to adjust the posture of the photographing device according to the offset angle
- the range of the posture adjustment of the photographing device is not easy to control.
- the posture of the photographing device may be adjusted.
- the amplitude is too large, the position of the target object in the image will easily change sharply, which will affect the shooting.
- the offset angular velocity may be determined according to the ratio of the difference between the offset angles obtained by two calculations before and after and the time length of the period of time.
- the offset angular velocity corresponding to the current offset angle may be determined according to the correspondence between the offset angle, the sampling time interval, and the offset angular velocity.
- the offset angle can be multiplied by a coefficient to obtain the corresponding offset angular velocity, and the coefficient can be determined according to the sampling time interval, for example.
- the rotational angular velocity of the gimbal in the direction corresponding to the gimbal axis can be determined according to the rotation angle ⁇ osmo of a certain gimbal axis (such as the yaw axis, that is, the yaw axis) within a period of time and the length t of the time period.
- the rotation angular velocity of the gimbal in the first direction can be determined according to the ratio ⁇ osmo ⁇ t of the rotation angle of the yaw axis motor to the sampling interval length within the sampling interval.
- the cloud can also be determined according to the rotation angle of the pitch axis motor.
- the rotational angular velocity of the stage in the second direction may also be obtained directly from the pan/tilt.
- the angular velocity of the motor rotation of each motor shaft can be obtained directly from the motor governor of the gimbal shaft, and the angular velocity of the gimbal in the first direction and/or the second direction can be determined according to the angular velocity.
- angular velocity is defined in physics as the rate of change of angular displacement, describing the vector of the angle and direction of rotation per unit time when an object rotates.
- controlling the gimbal according to the offset angular velocity includes: controlling the gimbal according to the offset angular velocity and the rotation angular velocity.
- the rotation angular velocity that the gimbal needs to execute at the next moment can be determined.
- the target angular velocity of the gimbal may be determined according to the offset angular velocity and the rotational angular velocity.
- the desired Euler speed of the gimbal can be determined, and the motor rotation of each motor shaft of the gimbal can be controlled according to the Euler speed, so as to adjust the orientation and angle of the photographing device, so that the target object a preset area in the image.
- the target angular velocity of the gimbal can be determined according to the sum of the offset angular velocity and the rotation angular velocity.
- the target angular velocity can be understood as the actual moving angular velocity ⁇ of the target object relative to the photographing device, and the target angular velocity ⁇ can be obtained by the following formula:
- the rotational angular velocity of the gimbal can be adjusted according to the actual angular velocity of movement of the target object relative to the photographing device.
- the direction of the position offset is set to be the same as the direction in which the gimbal rotates with the photographing device. For example, when the first direction is all to the right, it can be determined that the gimbal rotates to the right with the photographing device in the first direction. If the speed is lower than the speed at which the target object moves to the right, the speed at which the pan/tilt rotates to the right with the photographing device in the first direction can be increased, so that the target object is located in the preset area in the image.
- the target angular velocity of the gimbal is determined according to the difference between the rotation angular velocity and the offset angular velocity; and the gimbal can be controlled according to the target angular velocity.
- the actual movement direction of the target object relative to the photographing device when the actual movement direction of the target object relative to the photographing device is the same as the direction in which the gimbal rotates with the photographing device, if the target object is relatively predicted in the image. If the direction of the position offset is opposite to the direction in which the gimbal rotates with the camera, it can be determined that the rotation speed of the gimbal with the camera is greater than the speed of the target object, and the rotation speed of the gimbal with the camera can be reduced. so that the target object is located in a preset area in the image.
- the cloud can be adjusted according to the size and direction of the actual movement angular velocity of the target object relative to the camera. Rotational angular velocity and direction of rotation of the stage.
- the target angular velocity of the pan/tilt head may also be determined according to the offset angular velocity, the rotational angular velocity and the following adjustment coefficient.
- the target angular velocity of the gimbal is determined according to the product of the difference between the rotational angular velocity and the offset angular velocity and a follow-up adjustment coefficient.
- the following adjustment coefficient is the first value; when the actual movement direction of the target object relative to the camera is the same as the direction in which the gimbal rotates with the camera, and the offset angular velocity and the rotation angular velocity are in opposite directions, the following adjustment The coefficient is a second value; the first value is greater than the second value.
- the following adjustment coefficient is a third value, and the third value is greater than or equal to the first value.
- the following adjustment coefficient range is 1 to 1.2; when the actual movement direction of the target object relative to the camera is the same as the direction in which the gimbal rotates with the camera, and the offset angular velocity and the rotation angular velocity are in opposite directions, the The following adjustment factor ranges from 0.8 to 1.
- the size of the following adjustment coefficient may be determined according to the size of the offset distance.
- the offset The larger the moving distance is, the larger the gap between the following adjustment coefficient and 1 is, the larger the adjustment range of the angular velocity of the gimbal is, and the target object can be located in the preset area in the image in a short time.
- the size of the following adjustment coefficient may be determined according to the magnitude of the offset angular velocity.
- the actual movement direction of the target object relative to the photographing device is the same as the direction in which the gimbal rotates with the photographing device, if the offset The greater the angular movement speed, the greater the gap between the following adjustment coefficient and 1, the greater the adjustment range of the angular speed of the gimbal, and the target object can be located in the preset area in the image in a short time.
- the following adjustment coefficient is: 1.
- the target object can be kept in the preset area in the image relatively smoothly.
- the preset position may include at least one of an upper boundary line, a lower boundary line, a left boundary line, and a right boundary line of the preset area (dotted frame), and the target
- the offset distance between the object and the preset position is determined according to the distance between the bounding box of the target object and the upper boundary, lower boundary, left boundary or right boundary.
- the offset distance between the target object and the preset position may be represented as Xerr.
- the preset area is located in the middle of the image, and by controlling the pan/tilt to adjust the posture of the photographing device so that the target object is located in the preset area in the image, the target object can be maintained at the preset position.
- Setting the boundary line of the area can be applied to the shooting scene where the target object is the main body of the image. For example, in the Selfie mode, the face can be kept in the middle of the image, and the shooting effect is better.
- the boundary line can be a straight line or a curved line. It can save calculation when it is a straight line.
- the ratio of the distance between the upper boundary line of the preset area and the upper edge of the image to the length of the image in the second direction may be 0.05 to 0.2, and the distance between the lower boundary line of the preset area and the lower edge of the image
- the ratio to the length of the image in the second direction may be 0.05 to 0.2.
- the ratio of the distance between the left border line of the preset area and the left edge of the image to the length of the image in the first direction may be 0.05 to 0.2, and the distance between the right border line of the preset area and the right edge of the image is the same as the image in the first direction.
- the ratio of the lengths in the directions may be 0.05 to 0.2. It can be understood that the preset area may occupy a relatively large area in the image.
- the offset distance can be represented by the ratio between the distance between the bounding box of the target object and the boundary line of the preset area and the length of the image in the corresponding direction, such as L, for example, the offset distance is Xerr ⁇ L. It can be understood as normalizing the length of the image in the corresponding direction to 1.
- the length of the image in the corresponding direction is normalized to 1, and a coordinate system xy is established at the center of the image, the positive direction of the x-axis of the coordinate system is the horizontal direction to the right, and the positive direction of the y-axis is vertical.
- the coordinates of the center of the bounding box of the target object in the coordinate system xy can be expressed as (x0, y0).
- the four vertices of the bounding box can be expressed as (x0-L0 /2, y0+W0/2), (x0+L0/2, y0+W0/2), (x0+L0/2, y0-W0/2), (x0-L0/2, y0-W0/2 ). If all four vertices of the bounding box are in the preset area, the offset distance may be determined to be 0. If there is at least one vertex outside the boundary line of the preset area, it can be determined that the offset distance is not 0.
- the normalized offset distance Xerr in the horizontal direction is x0+L0/2-0.4; if x0-L0/2 ⁇ -0.4, it can be determined that in the horizontal direction The normalized offset distance Xerr in the direction is x0-L0/2+0.4; if x0+L0/2 ⁇ 0.4 and x0-L0/2 ⁇ -0.4, it can be determined that the normalized offset distance Xerr in the horizontal direction is 0.
- y0+W0/2>0.4 it can be determined that the normalized offset distance Yerr in the vertical direction is y0+W0/2-0.4; if y0-W0/2 ⁇ -0.4, it can be determined that the normalized offset distance in the vertical direction
- the normalized offset distance Yerr is y0-W0/2+0.4; if y0+W0/2 ⁇ 0.4 and y0-W0/2 ⁇ -0.4, it can be determined that the normalized offset distance Yerr in the vertical direction is 0 .
- the direction in which the target object is in the direction may be determined according to the offset distance Xerr in one direction and the viewing angle HFOV of the image in the direction.
- the offset angle ⁇ relative to the camera in the image or in the field of view of the camera.
- the first angle ⁇ 1 may be determined according to the position of the boundary line of the preset area (eg, the right boundary line of the preset area) and the viewing angle HFOV of the image in the direction.
- the first angle ⁇ 1 represents the angle value of the position of the boundary line relative to the center point of the image in the direction; according to the offset distance Xerr in one direction, and the position of the image in the direction
- the field of view angle HFOV determines a second angle ⁇ 2, and the second angle ⁇ 2 represents the angle value of one side (such as the right side) of the bounding box of the target object relative to the center point of the image in the direction, and the side is the side of the bounding box away from the center point of the image; the direction is determined according to the difference between the second angle ⁇ 2 and the first angle ⁇ 1, the target object is in the image or in the The offset angle ⁇ relative to the camera in the field of view of the camera.
- the reference distance h corresponding to the image can be determined according to the view angle HFOV of the image in the direction and the length of the image in the direction, according to the reference distance h and the boundary.
- the position of the line can determine the first angle ⁇ 1
- the second angle ⁇ 2 can be determined according to the reference distance h and the position of one side (such as the right side) of the bounding box of the target object.
- a difference in angle ⁇ 1 can determine the offset angle ⁇ of the target object in the image relative to the camera.
- the offset angular velocity corresponding to the current offset angle may be determined according to the correspondence between the offset angle, the sampling time interval, and the offset angular velocity.
- the offset angle can be multiplied by a coefficient to obtain the corresponding offset angular velocity, and the coefficient can be determined according to the sampling time interval, for example.
- the coefficient can be expressed as k, then the rotational angular velocity of the gimbal in the corresponding direction can be obtained by k ⁇ .
- the PTZ is controlled to adjust the posture of the photographing device according to the movement angle, so that the target object is located in a preset area in the image.
- an offset distance between the target object in the image and a preset position is determined, and the offset distance is determined according to the offset distance.
- the offset angle of the target object relative to the camera in the image or in the field of view of the camera, and the pan/tilt is controlled according to the offset angle.
- the gimbal may be controlled to adjust the posture of the photographing device, so that the The target object is located in a preset area in the image.
- the gimbal can be controlled to adjust the posture of the photographing device, so that the The target object is located in a preset area in the image.
- control method further includes: performing a re-identification process on the image to determine the target object in the image.
- the behavior of the target object (such as pets or wild animals) has great uncertainty, the target object may run out of the image, or occlusion is likely to occur when multiple target objects gather, and the following frame of the target object is more Jump between target objects and switch to other targets.
- the target object can be retrieved in the newly captured image through a Re-identification (ReID) algorithm, so as to continue to shoot, record or track the target object.
- ReID Re-identification
- performing re-identification processing on the image to determine the target object in the image includes: extracting head features and shallow features in the image based on a deep neural network; The head feature and the shallow feature determine the target object in the image.
- the convolutional neural network (CNN) network is used to extract the head information features and the shallow convolutional neural network to extract the color and texture. It matches the head information and shallow information of the target object before the loss, and finds the lost target object in the new image, which can more accurately realize the recovery of the lost target in the pet shooting scene. .
- CNN convolutional neural network
- the determining the target object in the image according to the head feature and the shallow feature includes: according to the difference between the head feature and the target head feature of the target object; The first feature distance of , and the second feature distance between the shallow feature and the target shallow feature of the target object, determine the target object in the image.
- an area in the image where the first feature distance is smaller than the first preset value and the second feature distance is smaller than the second preset value may be determined as the following frame of the target object.
- the control method of the pan/tilt according to the offset distance between the target object and the preset position in the image captured by the capturing device, it is determined whether the target object is in the image or in the position of the capturing device.
- the probability of the target going out of the picture can be reduced. Adjust the rotation speed of the gimbal according to the offset speed of the target object relative to the screen, so that the target can reappear in the screen to a certain extent and ensure the follow-up effect.
- FIG. 7 is a schematic block diagram of a pan/tilt 400 provided by an embodiment of the present application, and the pan/tilt 400 can be equipped with a photographing device.
- the pan/tilt 400 includes one or more processors 401, and the one or more processors 401 work individually or together to execute the steps of the aforementioned control method.
- the PTZ 400 further includes a memory 402 .
- the processor 401 and the memory 402 are connected through a bus 403, and the bus 403 is, for example, an I2C (Inter-integrated Circuit) bus.
- I2C Inter-integrated Circuit
- the processor 401 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
- MCU Micro-controller Unit
- CPU Central Processing Unit
- DSP Digital Signal Processor
- the memory 402 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, and the like.
- ROM Read-Only Memory
- the memory 402 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, and the like.
- the processor 401 is configured to run the computer program stored in the memory 402, and implement the aforementioned control method of the PTZ when the computer program is executed.
- the processor 401 is configured to run a computer program stored in the memory 402, and implement the following steps when executing the computer program:
- the PTZ is controlled to adjust the posture of the photographing device according to the offset angle, so that the target object is located in a preset area in the image.
- Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and the processor executes the program instructions, so as to realize the provision of the above embodiments.
- the computer-readable storage medium may be an internal storage unit of the pan/tilt described in any of the foregoing embodiments, such as a hard disk or a memory of the pan/tilt.
- the computer-readable storage medium may also be an external storage device of the PTZ, for example, a plug-in hard disk equipped on the PTZ, a Smart Media Card (SMC), a Secure Digital (SD) ) card, Flash Card, etc.
- SMC Smart Media Card
- SD Secure Digital
- FIG. 8 is a schematic block diagram of a control device 500 of a pan/tilt according to an embodiment of the present application, and the pan/tilt can be equipped with a photographing device.
- control device 500 can be communicatively connected with the PTZ. It can be understood that the communication connection can be realized through electrical connection, and can also be realized through wireless communication.
- the control device 500 includes one or more processors 501, which work individually or together for executing the steps of the aforementioned control method.
- control device 500 further includes a memory 502 .
- the processor 501 and the memory 502 are connected through a bus 503, and the bus 503 is, for example, an I2C (Inter-integrated Circuit) bus.
- I2C Inter-integrated Circuit
- the processor 501 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
- MCU Micro-controller Unit
- CPU Central Processing Unit
- DSP Digital Signal Processor
- the memory 502 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, and the like.
- ROM Read-Only Memory
- the memory 502 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, and the like.
- the processor 501 is configured to run a computer program stored in the memory 502, and implement the aforementioned control method of the pan/tilt head when executing the computer program.
- the processor 501 is configured to run a computer program stored in the memory 502, and implement the following steps when executing the computer program:
- the PTZ is controlled to adjust the posture of the photographing device according to the offset angle, so that the target object is located in a preset area in the image.
- control device of the pan/tilt provided by the embodiment of the present application are similar to the control method of the pan/tilt in the foregoing embodiments, and will not be repeated here.
- Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and when the computer program is executed by a processor, the processor implements the The steps of the control method of the PTZ provided by the above embodiments.
- the computer-readable storage medium may be an internal storage unit of the PTZ control device described in any of the foregoing embodiments, such as a hard disk or a memory of the control device.
- the computer-readable storage medium can also be an external storage device of the control device, such as a plug-in hard disk equipped on the control device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) ) card, Flash Card, etc.
- FIG. 9 is a schematic block diagram of a photographing apparatus 600 provided by an embodiment of the present application.
- the imaging device 600 can be mounted on a pan/tilt head.
- the photographing device 600 includes one or more processors 601, and the one or more processors 601 work individually or together to execute the steps of the aforementioned control method.
- the photographing apparatus 600 further includes a memory 602 .
- the processor 601 and the memory 602 are connected through a bus 603, and the bus 603 is, for example, an I2C (Inter-integrated Circuit) bus.
- I2C Inter-integrated Circuit
- the processor 601 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
- MCU Micro-controller Unit
- CPU Central Processing Unit
- DSP Digital Signal Processor
- the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
- ROM Read-Only Memory
- the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
- the processor 601 is configured to run the computer program stored in the memory 602, and implement the aforementioned control method of the PTZ when the computer program is executed.
- the processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when executing the computer program:
- the PTZ is controlled to adjust the posture of the photographing device according to the offset angle, so that the target object is located in a preset area in the image.
- Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and the processor executes the program instructions, so as to realize the provision of the above embodiments.
- the computer-readable storage medium may be an internal storage unit of the photographing apparatus described in any of the foregoing embodiments, such as a hard disk or a memory of the photographing apparatus.
- the computer-readable storage medium may also be an external storage device of the photographing device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the photographing device ) card, Flash Card, etc.
- FIG. 10 is a schematic block diagram of a photographing system 700 provided by an embodiment of the present application.
- the photographing system 700 includes a gimbal and a photographing device mounted on the gimbal.
- the gimbal is detachably connected to the photographing device, or the photographing device and the gimbal can also be integrally set, which is not limited herein.
- the photographing system 700 includes one or more processors 701, and the one or more processors 701 work individually or together to perform the steps of the aforementioned control method.
- the photographing system 700 further includes a memory 702 .
- the processor 701 and the memory 702 are connected through a bus 703, and the bus 703 is, for example, an I2C (Inter-integrated Circuit) bus.
- I2C Inter-integrated Circuit
- the processor 701 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP) or the like.
- MCU Micro-controller Unit
- CPU Central Processing Unit
- DSP Digital Signal Processor
- the memory 702 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
- ROM Read-Only Memory
- the memory 702 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
- the processor 701 is configured to run the computer program stored in the memory 702, and implement the aforementioned control method of the PTZ when the computer program is executed.
- the processor 701 is configured to run a computer program stored in the memory 702, and implement the following steps when executing the computer program:
- the PTZ is controlled to adjust the posture of the photographing device according to the offset angle, so that the target object is located in a preset area in the image.
- Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and when the computer program is executed by a processor, the processor implements the The steps of the control method of the PTZ provided by the above embodiments.
- the computer-readable storage medium may be an internal storage unit of the photographing system described in any of the foregoing embodiments, such as a hard disk or a memory of the photographing system.
- the computer-readable storage medium may also be an external storage device of the shooting system, such as a plug-in hard disk equipped on the shooting system, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) ) card, Flash Card, etc.
- the target object is determined according to the offset distance between the target object and the preset position in the image captured by the shooting device.
- the offset angle of the target object relative to the photographing device in the image or in the field of view of the photographing device and controlling the pan/tilt to adjust the posture of the photographing device according to the offset angle, so that the The target object is located in a preset area in the image.
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Abstract
一种云台的控制方法、云台及其控制设备、拍摄装置、系统和存储介质。其中,该控制方法包括:获取拍摄的图像(S110);确定图像中的目标对象与预设位置之间的偏移距离(S120);根据偏移距离确定目标对象在图像或视野中的偏移角度(S130);根据偏移角度控制云台调整拍摄装置的姿态,以使目标对象位于预设区域(S140)。该云台及其控制方法能够实现较好的拍摄效果。
Description
本申请涉及拍摄控制技术领域,尤其涉及一种云台及其控制方法、设备,拍摄装置、系统和存储介质。
随着拍摄技术的发展以及用户的需求,云台的应用越来越广泛,其中,以应用于拍摄领域较为广泛。以手持云台为例,用户可以通过手持云台进行各种各样的形式和场景的拍摄,例如手持云台可以调整相机的拍摄方向,以对拍摄目标进行跟随拍摄。
但是一些拍摄目标,如宠物的行为具有较大的不确定性,存在运动幅度突然变化或短期速度较大等现象,容易出现拍摄目标跑出画面等问题。
发明内容
基于此,本申请提供了一种云台及其控制方法、设备,拍摄装置、系统和存储介质,旨在解决对拍摄目标进行拍摄时,拍摄目标容易跑出画面等技术问题。
第一方面,本申请实施例提供了一种云台的控制方法,所述云台能够搭载拍摄装置,所述控制方法包括:
获取所述拍摄装置拍摄的图像;
确定所述图像中的目标对象与预设位置之间的偏移距离;
根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;
根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
第二方面,本申请实施例提供了一种云台,所述云台能够搭载拍摄装置,所述云台包括一个或多个处理器,单独地或共同地工作,用于执行如下步骤:
获取所述拍摄装置拍摄的图像;
确定所述图像中的目标对象与预设位置之间的偏移距离;
根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;
根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
第三方面,本申请实施例提供了一种云台的控制设备,所述云台能够搭载拍摄装置,所述控制设备包括一个或多个处理器,单独地或共同地工作,用于执行如下步骤:
获取所述拍摄装置拍摄的图像;
确定所述图像中的目标对象与预设位置之间的偏移距离;
根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;
根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
第四方面,本申请实施例提供了一种拍摄装置,所述拍摄装置能够搭载于云台,所述拍摄装置包括一个或多个处理器,单独地或共同地工作,用于执行如下步骤:
获取所述拍摄装置拍摄的图像;
确定所述图像中的目标对象与预设位置之间的偏移距离;
根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;
根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
第五方面,本申请实施例提供了一种拍摄系统,所述拍摄系统包括云台和搭载于所述云台的拍摄装置,所述拍摄系统包括一个或多个处理器,单独地或共同地工作,用于执行如下步骤:
获取所述拍摄装置拍摄的图像;
确定所述图像中的目标对象与预设位置之间的偏移距离;
根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;
根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
第六方面,本申请实施例提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时使所述处理器实现上述的方法。
本申请实施例提供了一种云台及其控制方法、设备,拍摄装置、系统和存储介质,通过根据拍摄装置拍摄的图像中,目标对象与预设位置之间的偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,以及根据该偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。可以应对目标对象运动幅度突然变化或短期速度较大的场景,将目标对象可靠的维持在图像的预设区域,如图像的中心位置或者距离图像边缘较远的区域,可以实现较好的拍摄效果。
应当理解的是,以上的一般描述和后文的细节描述仅是示例性和解释性的,并不能限制本申请实施例的公开内容。
为了更清楚地说明本申请实施例的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种云台的控制方法的流程示意图;
图2是拍摄装置搭载于云台的示意图;
图3是云台的控制设备搭载于云台的示意图;
图4是一实施方式中偏移距离的示意图;
图5是视野角度的示意图;
图6是一实施方式中偏移距离和偏移角度的示意图;
图7是本申请实施例提供的一种云台的示意性框图;
图8是本申请实施例提供的一种云台的控制设备的示意性框图;
图9是本申请实施例提供的一种拍摄装置的示意性框图;
图10是本申请实施例提供的一种拍摄系统的示意性框图。
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。
附图中所示的流程图仅是示例说明,不是必须包括所有的内容和操作/步骤,也不是必须按所描述的顺序执行。例如,有的操作/步骤还可以分解、组合或部分合并,因此实际执行的顺序有可能根据实际情况改变。
下面结合附图,对本申请的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
请参阅图1,图1是本申请实施例提供的一种云台的控制方法的流程示意图。云台的控制方法用于控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于拍摄的图像中的预设区域。
如图2所示,云台10能够搭载拍摄装置20,云台10用于稳定拍摄装置20并能够改变拍摄装置20的朝向、角度。示例性的,拍摄装置20可以包括相机、摄录机、手机、平板电脑、穿戴式设备、红外线摄像设备、紫外线摄像设备等影像捕获设备或者摄像设备。
示例性的,如图2所示,云台10的连接部11可以连接拍摄装置20。当然拍摄装置20也可以固定连接在云台10上,例如拍摄装置20可以和云台10一体式设置,在此不做限制。
示例性的,云台10具有三个云台轴,分别为偏航(yaw)轴、翻滚(roll轴)、俯仰(pitch)轴,每一轴上均设有一个电机13,每一轴上的电机13用以控制该轴进行动作,以稳定拍摄装置20并能够改变拍摄装置20的朝向、角度。在其他实施方式中,云台10也可以为单轴云台、双轴云台,或者可以为四 轴云台等。
示例性的,云台10可以包括手持云台,具体的,如图2所示,手持云台可以包括手持部12,用户可以手持该手持部12,以带着手持云台和拍摄装置移动或者保持手持云台在某一位置。
示例性的,云台10可以挂载在无人飞行器或无人车上,此时,无人飞行器或无人车可以带着云台10和拍摄装置20移动或者保持在某一位置。
可以理解的,云台的控制方法可以应用在云台10中,也可以应用在拍摄装置20中,当然也可以应用在包括云台10和拍摄装置20的拍摄系统中。
在一些实施方式中,如图3所示,云台10能够与云台的控制设备30通信连接,可以理解的,通信连接可以是通过电连接实现,也可以通过无线通信实现。云台的控制方法还可以应用在云台的控制设备30中,或者由云台10和云台的控制设备30共同执行实现所述控制方法。
可以理解的,拍摄装置20也可以作为云台的控制设备30与云台10通信连接,而实现云台的控制方法。
如图1所示,本申请实施例的云台的控制方法包括步骤S110至步骤S140。需要说明的是,以下提及的目标对象可以指目标对象本身,或所述目标对象所属的边界框(例如,bounding box),该边界框可以时经过CNN识别得到的检测框,或经过跟随算法生成的跟踪框。
S110、获取所述拍摄装置拍摄的图像。
具体的,获取拍摄装置拍摄目标对象得到的图像。
示例性的,可以通过目标检测处理确定图像中的目标对象,例如当在图像中检测到一个猫时,将该猫确定为目标对象;或者当在图像中检测到多个猫时,可以确定其中一个或多个猫为目标对象。
示例性的,可以在拍摄装置的显示屏上显示拍摄的图像,根据用户对图像中物体的选取操作确定选取操作对应的物体为目标对象。
示例性的,所述目标对象包括宠物。当然目标对象也可以包括人、交通工具、野生动物、无人飞行器、无人车等。
可以理解的,宠物、野生动物等的行为具有较大的不确定性,存在运动幅度突然变化或短期速度较大等现象,容易跑出画面。本申请实施例提供的控制方法可以较好的解决这一问题。
S120、确定所述图像中的目标对象与预设位置之间的偏移距离。
在步骤S120中,也可确定所述目标对象在所述拍摄装置的视野中的位置与预设位置的偏移距离。
示例性的,如图4所示,所述图像中的目标对象与预设位置之间的偏移距离可以表示为L1。
在一些实施方式中,如图4所示,所述预设位置包括所述图像的中心点。
示例性的,如图4所示,所述目标对象与所述预设位置之间的偏移距离可以根据所述目标对象的中心与所述图像的中心点之间的距离确定。或者,根据所述目标对象所属的边界框(例如,bounding box)与所述预设区域的边界线之间的距离确定所述偏移距离。
例如,在跟随拍摄模式下,可以根据图像中的目标对象的中心和图像的中心点之间的偏移距离,控制云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域,例如可以使目标对象处于图像的所述中心点所在的区域。
具体的,可以确定所述图像中的目标对象与所述预设位置在至少一个方向上的偏移距离。
示例性的,所述方向包括与所述图像的横向平行的第一方向(图像的长度方向)和/或与所述图像的纵向平行的第二方向(图像的宽度方向)。
在一些实施方式中,所述云台包括偏航(yaw)轴电机和/或俯仰(pitch)轴电机。偏航轴电机转动时,可以调节拍摄装置的拍摄方向沿第一方向向左或向右移动;俯仰轴电机转动时,可以调节拍摄装置的拍摄方向沿第二方向向上或向下移动。
示例性的,可以根据图像中的目标对象与所述预设位置在第一方向上的偏移距离,控制偏航轴电机转动,和/或根据图像中的目标对象与所述预设位置在第二方向上的偏移距离,控制俯仰轴电机转动,以使所述目标对象位于所述图像中的预设区域。
S130、根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度。
由于云台调整所述拍摄装置的姿态是通过控制各轴的电机实现的,可以根据偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所 述拍摄装置的偏移角度,以及根据所述偏移角度控制云台相应的电机轴转动,以调整拍摄装置的朝向。
在一些实施方式中,所述根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,包括:根据所述图像中的目标对象与所述预设位置在一方向上的偏移距离,确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度。
示例性的,可以根据图像中的目标对象与所述预设位置在第一方向上的偏移距离,确定所述第一方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,以及根据该偏移角度控制偏航轴电机转动,和/或根据图像中的目标对象与所述预设位置在第二方向上的偏移距离,确定所述第二方向上,所述目标对象在所述图像中或所述拍摄装置的视野中相对所述拍摄装置的偏移角度,以及根据该偏移角度控制俯仰轴电机转动,以使所述目标对象位于所述图像中的预设区域。
在一些实施方式中,可以根据一方向上的所述偏移距离和所述图像在所述方向上的长度确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度。
示例性的,如图4所示,所述图像在所述第一方向上的长度可以表示为L。
示例性的,可以根据一方向上的所述偏移距离和所述长度的比值确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度。例如,根据所述第一方向上的偏移距离L1和所述长度L的比值可以确定拍摄的图像在水平方向(第一方向)上的偏移比例。可以理解的,所述第一方向上的偏移距离L1和所述长度L的比值越大,则确定的偏移角度越大。
示例性的,根据一方向上的所述偏移距离和所述长度,以及所述图像在所述方向上的视野角度可以确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度。
示例性的,如图5所示,当所述第一方向为水平方向时,所述图像在所述第一方向上的视野角度可以表示为HFOV(Horizontal Field of View);当所述第二方向为垂直方向时,在所述第二方向上的视野角度可以表示为VFOV (VerticalField of View)。
示例性的,可以获取所述拍摄装置的拍摄参数,根据所述拍摄参数确定所述图像在各所述方向上的视野角度。
例如,如图5所示,所述拍摄参数包括对角线视野角度(Diagonal Field of View,DFOV)。可以根据所述对角线视野角度和所述图像的长宽比确定所述图像在所述方向上的视野角度。例如,图像在第一方向上的长度和第二方向上的长度的比值为16:9,则图像的长宽比可以为16:9或9:16。
例如,在时间t内,所述图像或所述视野中的目标对象与预设位置之间在水平方向的偏移距离为a,图像在水平方向上的长度和竖直方向上的长度的比值为c,则对应水平方向的偏移角度ρ
obj为:
其中,tan()表示正切函数,atan()表示反正切函数。
可以理解的,所述图像在所述方向上的长度和所述图像在所述方向上的视野角度一定时,所述偏移距离越大,则确定的偏移角度越大;所述图像在所述方向上的长度和所述偏移距离一定时,所述图像在所述方向上的视野角度越大,则确定的偏移角度越小。
S140、根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
示例性的,所述根据所述偏移角度控制所述云台,包括:根据所述目标对象在所述第一方向上相对所述拍摄装置的偏移角度,控制所述偏航轴电机转动;和/或根据所述目标对象在所述第二方向上相对所述拍摄装置的偏移角度,控制所述俯仰轴电机转动。
示例性的,所述预设位置包括所述图像的中心点时,所述预设区域包括所述中心点所在的区域,通过控制所述云台调整所述拍摄装置的姿态,可以使目标对象处于图像的所述中心点所在的区域,实现对目标对象的跟随拍摄。
示例性的,可以根据所述偏移角度和所述云台的转动角度确定所述目标对象相对所述拍摄装置的运动角速度;根据所述目标对象相对所述拍摄装置的运动角速度控制所述云台,以使目标对象位于所述图像中的预设区域。
例如,所述偏移角度包括第一方向和/或第二方向的偏移角度,所述云台的 转动角度包括所述云台在第一方向和/或第二方向上的转动角度,所述目标对象相对所述拍摄装置的运动角速度包括所述目标对象相对所述拍摄装置在第一方向和/或第二方向上的运动角速度。
其中,所述第一方向为与所述图像的横向平行的方向,即水平方向;所述第二方向为与所述图像的纵向平行的方向,即竖直方向。
所述根据所述偏移角度和所述云台的转动角度确定所述目标对象相对所述拍摄装置的运动角速度包括:
根据一方向的偏移角度和所述云台在所述方向上的转动角度确定所述目标对象相对所述拍摄装置在所述方向上的运动角速度。所述方向包括与所述图像的横向平行的第一方向或与所述图像的纵向平行的第二方向。
在一些实施方式中,所述根据所述偏移角度控制所述云台,包括:根据所述偏移角度确定所述目标对象在所述图像中相对所述拍摄装置的偏移角速度;根据所述偏移角速度控制所述云台。
在一些拍摄场景中,目标对象是运动的,如果直接根据所述偏移角度控制云台调整所述拍摄装置的姿态,拍摄装置姿态调整的幅度不好控制,例如可能会使拍摄装置姿态调整的幅度过大,目标对象在图像中的位置容易产生急剧变化,影响拍摄。可以通过根据所述偏移角度确定所述目标对象在所述图像中相对所述拍摄装置的偏移角速度,以及根据所述偏移角速度对云台进行控制,实现将图像中的偏离预设区域的目标对象平滑移动至所述预设区域。
示例性的,可以根据一段时间内所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,与该段时间的时间长度t的比值ρ
obj÷t确定所述偏移角速度。例如可以根据前后两次计算得到的偏移角度的差值,与该段时间的时间长度的比值确定所述偏移角速度。
示例性的,可以根据偏移角度、采样时间间隔和偏移角速度之间的对应关系确定当前偏移角度对应的偏移角速度。例如可以将偏移角度乘以一个系数得到对应的偏移角速度,该系数例如可以根据采样时间间隔确定。
示例性的,可以根据一段时间内某云台轴(如偏航轴,即yaw轴)转动的角度ρ
osmo和该时间段的长度t确定云台在该云台轴对应的方向上的转动角速度。例如,可以根据采样间隔内偏航轴电机转动的角度与采样间隔长的比值ρ
osmo÷t确定云台在第一方向上的转动角速度,同样的,也可以根据俯仰轴电 机转动的角度确定云台在第二方向上的转动角速度。当然在一些实施方式中也可以直接从云台获取所述云台在各方向上的转动角速度。例如,可以直接从云台轴的电机调速器获取各电机轴电机转动的角速度,根据该角速度确定云台在第一方向和/或第二方向上的转动角速度。
可以理解的,角速度(Angular velocity)是在物理学中定义为角位移的变化率,描述物体转动时,在单位时间内转过角度以及转动方向的向量。
示例性的,所述根据所述偏移角速度控制所述云台,包括:根据所述偏移角速度和所述转动角速度控制所述云台。
示例性的,可以根据当前时刻的偏移角速度和所述转动角速度,确定下一时刻云台需要执行的转动角速度。
具体的,可以根据所述偏移角速度和所述转动角速度确定所述云台的目标角速度。
示例性的,根据云台的目标角速度,可以确定云台期望的欧拉速度,根据该欧拉速度可以控制云台各电机轴的电机转动,以调整拍摄装置的朝向、角度,以使目标对象位于所述图像中的预设区域。
示例性的,在第一方向或第二方向上,当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相同时,可以根据所述偏移角速度与所述转动角速度的和确定所述云台的目标角速度。
示例性的,目标角速度可以理解为是目标对象相对拍摄装置的实际运动角速度ω,目标角速度ω可以通过下式得到:
则可根据目标对象相对拍摄装置的实际运动角速度调节云台的转动角速度。
可以理解的,在第一方向或第二方向上,当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同时,若目标对象在所述图像中相对预设位置偏移的方向与云台带着拍摄装置转动的方向相同,如在第一方向都是向右时,则可以确定云台带着拍摄装置在所述第一方向上向右转动的速度小于目标对象向右移动的速度,可以增大云台带着拍摄装置在所述第一方向上向右转动的速度,以使目标对象位于所述图像中的预设区域。
示例性的,在第一方向或第二方向上,当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相反时,根据所述转动角速度和所述偏移角速度的差确定所述云台的目标角速度;以及可以根据所述目标角速度控制所述云台。
可以理解的,在第一方向或第二方向上,当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同时,若目标对象在所述图像中相对预设位置偏移的方向与云台带着拍摄装置转动的方向相反,则可以确定云台带着拍摄装置转动的速度大于目标对象移动的速度,可以减小云台带着拍摄装置转动的速度,以使目标对象位于所述图像中的预设区域。
示例性的,当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向不同时,可以根据目标对象相对于拍摄装置的实际运动角速度的大小和方向调整所述云台的转动角速度和转动方向。
示例性的,还可以根据偏移角速度、转动角速度和跟随调整系数确定所述云台的目标角速度。例如,当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相同时,根据所述偏移角速度与所述转动角速度的和与跟随调整系数的乘积确定所述云台的目标角速度;当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相反时,根据所述转动角速度和所述偏移角速度的差与跟随调整系数的乘积确定所述云台的目标角速度。
示例性的,当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相同时,所述跟随调整系数为第一数值;当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相反时,所述跟随调整系数为第二数值;所述第一数值大于第二数值。当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相反时,所述跟随调整系数为第三数值,所述第三数值大于或等于第一数值。
示例性的,当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相同时,所述跟随调整系数的范围是1至1.2;当目标对象相对于拍摄装置的实际运动 方向和所述云台带着拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相反时,所述跟随调整系数的范围是0.8至1。
示例性的,可以根据所述偏移距离的大小确定跟随调整系数的大小,当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同时,若所述偏移距离越大,则跟随调整系数和1之间的差距越大,云台角速度调整的幅度越大,用较短的时间就可以使目标对象位于所述图像中的预设区域。
示例性的,可以根据所述偏移角速度的大小确定跟随调整系数的大小,当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同时,若所述偏移角速度越大,则跟随调整系数和1之间的差距越大,云台角速度调整的幅度越大,用较短的时间就可以使目标对象位于所述图像中的预设区域。
示例性的,当目标对象相对于拍摄装置的实际运动方向和所述云台带着拍摄装置转动的方向相同时,若所述偏移距离小于等于预设的偏离阈值,所述跟随调整系数为1。可以较为平稳的保持目标对象位于所述图像中的预设区域。
在另一些实施方式中,如图6所示,所述预设位置可以包括所述预设区域(虚线框)的上边界线、下边界线、左边界线、右边界线中的至少一个,所述目标对象与所述预设位置之间的偏移距离根据所述目标对象的边界框与所述上边界线、下边界线、左边界线或右边界线之间的距离确定。如图6所示,在第一方向上,所述目标对象与所述预设位置之间的偏移距离可以表示为Xerr。
示例性的,所述预设区域位于图像的中部位置,通过控制所述云台调整所述拍摄装置的姿态使所述目标对象位于所述图像中的预设区域,可以将目标对象维持在预设区域的边界线中,可以应用于目标对象为图像主体的拍摄场景,例如在自拍模式下,能够将人脸保持在图像中的中部,拍摄效果更好。
可以理解的,边界线可以为直线,也可以为曲线。为直线时可以节省计算量。
示例性的,预设区域的上边界线与图像上边缘之间的距离与图像在第二方向上的长度的比值可以为0.05至0.2,预设区域的下边界线与图像下边缘之间的距离与图像在第二方向上的长度的比值可以为0.05至0.2。预设区域的左边界线与图像左边缘之间的距离与图像在第一方向上的长度的比值可以为0.05 至0.2,预设区域的右边界线与图像右边缘之间的距离与图像在第一方向上的长度的比值可以为0.05至0.2。可以理解的,该预设区域在图像中可以占据较大的面积。
示例性的,所述偏移距离可以用目标对象的边界框和预设区域的边界线之间的距离与图像在相应方向上的长度,如L的比值表示,例如,偏移距离为Xerr÷L。可以理解为将图像在相应方向上的长度归一化为1。
示例性的,将图像在相应方向上的长度归一化为1,以及在图像的中心建立坐标系xy,该坐标系x轴的正方向为水平方向向右,y轴的正方向为竖直方向向上,预设区域的四个边界线分别可以表示为x=0.4,x=﹣0.4,y=0.4,y=﹣0.4,预设区域可以表示为﹣0.4<x<0.4且﹣0.4<y<0.4。
目标对象的边界框的中心在坐标系xy中的坐标可以表示为(x0,y0),当边界框的长为L00,宽为W00时,该边界框的四个顶点可以表示为(x0-L0/2,y0+W0/2)、(x0+L0/2,y0+W0/2)、(x0+L0/2,y0-W0/2)、(x0-L0/2,y0-W0/2)。如果该边界框的四个顶点均在所述预设区域,则可以确定偏移距离为0。如果有至少一个顶点在预设区域的边界线之外,则可以确定偏移距离不为0。
示例性的,如果x0+L0/2>0.4,可以确定在水平方向上归一化的偏移距离Xerr为x0+L0/2-0.4;如果x0-L0/2<﹣0.4,可以确定在水平方向归一化的偏移距离Xerr为x0-L0/2+0.4;如果x0+L0/2≤0.4且x0-L0/2≥﹣0.4,可以确定在水平方向归一化的偏移距离Xerr为0。如果y0+W0/2>0.4,可以确定在竖直方向上归一化的偏移距离Yerr为y0+W0/2-0.4;如果y0-W0/2<﹣0.4,可以确定在竖直方向归一化的偏移距离Yerr为y0-W0/2+0.4;如果y0+W0/2≤0.4且y0-W0/2≥﹣0.4,可以确定在竖直方向归一化的偏移距离Yerr为0。
在一些实施方式中,如图6所示,可以根据一方向上的所述偏移距离Xerr,以及所述图像在所述方向上的视野角度HFOV确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度θ。
示例性的,如图6所示,可以根据所述预设区域的边界线(如预设区域的右边界线)的位置,以及所述图像在所述方向上的视野角度HFOV确定第一角度θ1,所述第一角度θ1表示所述边界线的位置相对于图像的中心点在所述方向 上的角度值;根据一方向上的所述偏移距离Xerr,以及所述图像在所述方向上的视野角度HFOV确定第二角度θ2,所述第二角度θ2表示所述目标对象的边界框一侧(如右侧)相对于图像的中心点在所述方向上的角度值,所述一侧为所述边界框远离所述图像的中心点的一侧;根据所述第二角度θ2和所述第一角度θ1的差确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度θ。
示例性的,如图6所示,根据所述图像在所述方向上的视野角度HFOV和所述图像在所述方向上的长度可以确定图像对应的参考距离h,根据该参考距离h和边界线的位置可以确定第一角度θ1,根据该参考距离h和所述目标对象的边界框一侧(如右侧)的位置可以确定第二角度θ2,根据所述第二角度θ2和所述第一角度θ1的差可以确定目标对象在所述图像中相对所述拍摄装置的偏移角度θ。
示例性的,可以根据偏移角度、采样时间间隔和偏移角速度之间的对应关系确定当前偏移角度对应的偏移角速度。例如可以将偏移角度乘以一个系数得到对应的偏移角速度,该系数例如可以根据采样时间间隔确定。例如该系数可以表示为k,则通过k×θ可以得到云台在相应方向上的转动角速度。根据所述运动角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
在一些实施方式中,在所述目标对象的至少部分不处于所述预设区域时,确定所述图像中的目标对象与预设位置之间的偏移距离,根据所述偏移距离确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,以及根据所述偏移角度控制所述云台。
示例性的,可以在所述目标对象的中心与所述图像的中心点之间的距离超过预设的第一距离阈值时,控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
示例性的,可以在所述目标对象的边界框移出预设区域边界线时,且移出的距离超过预设的第二距离阈值时,控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
可以理解的,在目标对象与预设区域的偏移较小时,可以不去确定所述偏移距离和偏移角度,以及不去根据所述偏移角度控制所述云台,可以节省计算 量,降低功耗。
在一些实施方式中,所述控制方法还包括:对所述图像进行重识别处理,确定所述图像中的所述目标对象。
在有些场景中,目标对象(如宠物或野生动物)的行为具有较大的不确定性,目标对象可能会跑出图像,或者多个目标对象聚集时容易出现遮挡,目标对象的跟随框在多个目标对象之间跳动,切换到其他目标。为了防止目标对象从图像中丢失或者切换目标,可以通过重识别(Re-identification,ReID)算法在新拍摄的图像中找回目标对象,以便继续对该目标对象进行拍摄、录像或跟踪。
示例性的,所述对所述图像进行重识别处理,确定所述图像中的所述目标对象,包括:基于深度神经网络,提取所述图像中的头部特征和浅层特征;根据所述头部特征和所述浅层特征,确定所述图像中的所述目标对象。
示例性的,通常宠物目标的头部信息和浅层信息(颜色、纹理、轮廓)相对明显,使用卷积神经网络(CNN)网络提取头部信息特征和浅层卷积神经网络提取颜色、纹理和轮廓等浅层信息,对丢失前的目标对象的头部信息和浅层信息进行匹配,在新的图像中找到丢失的目标对象,可以更准确的实现宠物拍摄场景下丢失目标的重找回。
示例性的,所述根据所述头部特征和所述浅层特征,确定所述图像中的所述目标对象,包括:根据所述头部特征和所述目标对象的目标头部特征之间的第一特征距离,以及所述浅层特征和所述目标对象的目标浅层特征之间的第二特征距离,确定所述图像中的所述目标对象。
例如,可以将图像中第一特征距离小于第一预设值且第二特征距离小于第二预设值的区域确定为所述目标对象的跟随框。
本申请实施例提供的云台的控制方法,通过根据拍摄装置拍摄的图像中,目标对象与预设位置之间的偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,以及根据该偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。可以应对目标对象运动幅度突然变化或短期速度较大的场景,将目标对象可靠的维持在图像的预设区域,如图像的中心位置或者距离图像边缘较远的区域,可以实现较好的拍摄效果。
通过确定目标对象相对相机视野偏移的角速度,对云台转速进行智能调整,可以减少目标出画面概率。根据目标对象相对画面偏移的速度,调整云台转速,一定程度能够使将目标重新出现在画面中,保证跟随效果。
在对宠物、野生动物等行为具有较大不确定性的目标对象进行跟随拍摄时,可以防止因这类目标对象突然加速度和短时间速度过快的情况时容易出现的丢目标和跳目标的问题,能够保证这类目标对象在画面中,可以较好地解决丢目标问题。
在通过前置摄像头拍摄人脸时,例如在拍摄视频记录(video blog,vlog)时,可以解决人脸容易跑出预设区域所属的边界框的问题,能够提高拍摄效果和拍摄效率。
请结合上述实施例参阅图7,图7是本申请实施例提供的云台400的示意性框图,该云台400能够搭载拍摄装置。
该云台400包括一个或多个处理器401,一个或多个处理器401单独地或共同地工作,用于执行前述的控制方法的步骤。
示例性的,云台400还包括存储器402。
示例性的,处理器401和存储器402通过总线403连接,该总线403比如为I2C(Inter-integrated Circuit)总线。
具体地,处理器401可以是微控制单元(Micro-controller Unit,MCU)、中央处理单元(Central Processing Unit,CPU)或数字信号处理器(Digital Signal Processor,DSP)等。
具体地,存储器402可以是Flash芯片、只读存储器(ROM,Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中,所述处理器401用于运行存储在存储器402中的计算机程序,并在执行所述计算机程序时实现前述的云台的控制方法。
示例性的,所述处理器401用于运行存储在存储器402中的计算机程序,并在执行所述计算机程序时实现如下步骤:
获取所述拍摄装置拍摄的图像;
确定所述图像中的目标对象与预设位置之间的偏移距离;
根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;
根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
本申请实施例提供的云台的具体原理和实现方式均与前述实施例的云台的控制方法类似,此处不再赘述。
本申请实施例还提供一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序中包括程序指令,所述处理器执行所述程序指令,实现上述实施例提供的云台的控制方法的步骤。
其中,所述计算机可读存储介质可以是前述任一实施例所述的云台的内部存储单元,例如所述云台的硬盘或内存。所述计算机可读存储介质也可以是所述云台的外部存储设备,例如所述云台上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。
请参阅图8,图8是本申请实施例提供的云台的控制设备500的示意性框图,该云台能够搭载拍摄装置。
具体的,控制设备500能够与云台通信连接。可以理解的,通信连接可以是通过电连接实现,也可以通过无线通信实现。
该控制设备500包括一个或多个处理器501,一个或多个处理器501单独地或共同地工作,用于执行前述的控制方法的步骤。
示例性的,控制设备500还包括存储器502。
示例性的,处理器501和存储器502通过总线503连接,该总线503比如为I2C(Inter-integrated Circuit)总线。
具体地,处理器501可以是微控制单元(Micro-controller Unit,MCU)、中央处理单元(Central Processing Unit,CPU)或数字信号处理器(Digital Signal Processor,DSP)等。
具体地,存储器502可以是Flash芯片、只读存储器(ROM,Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中,所述处理器501用于运行存储在存储器502中的计算机程序,并在执行所述计算机程序时实现前述的云台的控制方法。
示例性的,所述处理器501用于运行存储在存储器502中的计算机程序,并在执行所述计算机程序时实现如下步骤:
获取所述拍摄装置拍摄的图像;
确定所述图像中的目标对象与预设位置之间的偏移距离;
根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;
根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
本申请实施例提供的云台的控制设备的具体原理和实现方式均与前述实施例的云台的控制方法类似,此处不再赘述。
本申请实施例还提供一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序中包括程序指令,所述计算机程序被处理器执行时使所述处理器实现上述实施例提供的云台的控制方法的步骤。
其中,所述计算机可读存储介质可以是前述任一实施例所述的云台控制设备的内部存储单元,例如所述控制设备的硬盘或内存。所述计算机可读存储介质也可以是所述控制设备的外部存储设备,例如所述控制设备上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。
请结合上述实施例参阅图9,图9是本申请实施例提供的拍摄装置600的示意性框图。该拍摄装置600能够搭载于云台。
该拍摄装置600包括一个或多个处理器601,一个或多个处理器601单独地或共同地工作,用于执行前述的控制方法的步骤。
示例性的,拍摄装置600还包括存储器602。
示例性的,处理器601和存储器602通过总线603连接,该总线603比如为I2C(Inter-integrated Circuit)总线。
具体地,处理器601可以是微控制单元(Micro-controller Unit,MCU)、中央处理单元(Central Processing Unit,CPU)或数字信号处理器(Digital Signal Processor,DSP)等。
具体地,存储器602可以是Flash芯片、只读存储器(ROM,Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中,所述处理器601用于运行存储在存储器602中的计算机程序,并在执行所述计算机程序时实现前述的云台的控制方法。
示例性的,所述处理器601用于运行存储在存储器602中的计算机程序,并在执行所述计算机程序时实现如下步骤:
获取所述拍摄装置拍摄的图像;
确定所述图像中的目标对象与预设位置之间的偏移距离;
根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;
根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
本申请实施例提供的拍摄装置的具体原理和实现方式均与前述实施例的云台的控制方法类似,此处不再赘述。
本申请实施例还提供一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序中包括程序指令,所述处理器执行所述程序指令,实现上述实施例提供的云台的控制方法的步骤。
其中,所述计算机可读存储介质可以是前述任一实施例所述的拍摄装置的内部存储单元,例如所述拍摄装置的硬盘或内存。所述计算机可读存储介质也可以是所述拍摄装置的外部存储设备,例如所述拍摄装置上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。
请参阅图10,图10是本申请实施例提供的拍摄系统700的示意性框图,拍摄系统700包括云台和搭载于云台的拍摄装置。
示例性的,云台与拍摄装置可拆卸连接,或者拍摄装置也可以和云台一体式设置,在此不做限制。
该拍摄系统700包括一个或多个处理器701,一个或多个处理器701单独地或共同地工作,用于执行前述的控制方法的步骤。
示例性的,拍摄系统700还包括存储器702。
示例性的,处理器701和存储器702通过总线703连接,该总线703比如为I2C(Inter-integrated Circuit)总线。
具体地,处理器701可以是微控制单元(Micro-controller Unit,MCU)、中央处理单元(Central Processing Unit,CPU)或数字信号处理器(Digital Signal Processor,DSP)等。
具体地,存储器702可以是Flash芯片、只读存储器(ROM,Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中,所述处理器701用于运行存储在存储器702中的计算机程序,并在执行所述计算机程序时实现前述的云台的控制方法。
示例性的,所述处理器701用于运行存储在存储器702中的计算机程序,并在执行所述计算机程序时实现如下步骤:
获取所述拍摄装置拍摄的图像;
确定所述图像中的目标对象与预设位置之间的偏移距离;
根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;
根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
本申请实施例提供的拍摄系统的具体原理和实现方式均与前述实施例的云台的控制方法类似,此处不再赘述。
本申请实施例还提供一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序中包括程序指令,所述计算机程序被处理器执行时使所述处理器实现上述实施例提供的云台的控制方法的步骤。
其中,所述计算机可读存储介质可以是前述任一实施例所述的拍摄系统的内部存储单元,例如所述拍摄系统的硬盘或内存。所述计算机可读存储介质也可以是所述拍摄系统的外部存储设备,例如所述拍摄系统上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。
本申请实施例提供的云台、云台的控制设备、拍摄装置、拍摄系统和计算机可读存储介质,通过根据拍摄装置拍摄的图像中,目标对象与预设位置之间的偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,以及根据该偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。可以应对目标对象运动幅度突然变化或短期速度较大的场景,将目标对象可靠的维持在图像的预设区域,如图像的中心位置或者距离图像边缘较远的区域,可以实现较好的拍摄效果。
应当理解,在此本申请中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。
还应当理解,在本申请和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合,并且包括这些组合。
以上所述,仅为本申请的具体实施方式,但本申请的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本申请揭露的技术范围内,可轻易想到各种等效的修改或替换,这些修改或替换都应涵盖在本申请的保护范围之内。因此,本申请的保护范围应以权利要求的保护范围为准。
Claims (30)
- 一种云台的控制方法,其特征在于,所述云台能够搭载拍摄装置,所述控制方法包括:获取所述拍摄装置拍摄的图像;确定所述图像中的目标对象与预设位置之间的偏移距离;根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
- 根据权利要求1所述的控制方法,其特征在于,所述根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,包括:根据所述图像中的目标对象与所述预设位置在一方向上的偏移距离,确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度。
- 根据权利要求2所述的控制方法,其特征在于,所述方向包括与所述图像的横向平行的第一方向和/或与所述图像的纵向平行的第二方向。
- 根据权利要求3所述的控制方法,其特征在于,所述云台包括偏航轴电机和/或俯仰轴电机;所述根据所述偏移角度控制所述云台,包括:根据所述目标对象在所述第一方向上相对所述拍摄装置的偏移角度,控制所述偏航轴电机转动;和/或根据所述目标对象在所述第二方向上相对所述拍摄装置的偏移角度,控制所述俯仰轴电机转动。
- 根据权利要求1-4中任一项所述的控制方法,其特征在于,所述根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,包括:根据一方向上的所述偏移距离和所述图像在所述方向上的长度确定所述方 向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度。
- 根据权利要求5所述的控制方法,其特征在于,所述根据一方向上的所述偏移距离和所述图像在所述方向上的长度确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,包括:根据一方向上的所述偏移距离和所述长度的比值确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度。
- 根据权利要求5或6所述的控制方法,其特征在于,所述根据一方向上的所述偏移距离和所述图像在所述方向上的长度确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,包括:根据一方向上的所述偏移距离和所述长度,以及所述图像在所述方向上的视野角度确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度。
- 根据权利要求1-7中任一项所述的控制方法,其特征在于,所述预设位置包括所述图像的中心点,所述目标对象与所述预设位置之间的偏移距离根据所述目标对象的中心与所述图像的中心点之间的距离确定,所述预设区域包括所述中心点所在的区域。
- 根据权利要求1-4中任一项所述的控制方法,其特征在于,所述根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,包括:根据一方向上的所述偏移距离,以及所述图像在所述方向上的视野角度确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度。
- 根据权利要求9所述的控制方法,其特征在于,所述根据一方向上的所述偏移距离,以及所述图像在所述方向上的视野角度确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,包括:根据所述预设区域的边界线的位置,以及所述图像在所述方向上的视野角度确定第一角度,所述第一角度表示所述边界线的位置相对于图像的中心点在 所述方向上的角度值;根据一方向上的所述偏移距离,以及所述图像在所述方向上的视野角度确定第二角度,所述第二角度表示所述目标对象的边界框一侧相对于图像的中心点在所述方向上的角度值,所述一侧为所述边界框远离所述图像的中心点的一侧;根据所述第二角度和所述第一角度的差确定所述方向上,所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度。
- 根据权利要求1-4、9-10中任一项所述的控制方法,其特征在于,所述预设位置包括所述预设区域的上边界线、下边界线、左边界线、右边界线中的至少一个,所述目标对象与所述预设位置之间的偏移距离根据所述目标对象的边界框与所述上边界线、下边界线、左边界线或右边界线之间的距离确定。
- 根据权利要求7或9所述的控制方法,其特征在于,所述控制方法还包括:获取所述拍摄装置的拍摄参数;根据所述拍摄参数确定所述图像在所述方向上的视野角度。
- 根据权利要求12所述的控制方法,其特征在于,所述拍摄参数包括对角线视野角度;所述根据所述拍摄参数确定所述图像在所述方向上的视野角度,包括:根据所述对角线视野角度和所述图像的长宽比确定所述图像在所述方向上的视野角度。
- 根据权利要求1-13中任一项所述的控制方法,其特征在于,所述根据所述偏移角度控制所述云台,包括:根据所述偏移角度确定所述目标对象在所述图像中相对所述拍摄装置的偏移角速度;根据所述偏移角速度控制所述云台。
- 根据权利要求14所述的控制方法,其特征在于,所述控制方法还包括:获取所述云台的转动角速度;所述根据所述偏移角速度控制所述云台,包括:根据所述偏移角速度和所述转动角速度控制所述云台。
- 根据权利要求15所述的控制方法,其特征在于,所述根据所述偏移角 速度和所述转动角速度控制所述云台,包括:根据所述偏移角速度和所述转动角速度确定所述目标对象相对所述拍摄装置的运动角速度;根据所述目标对象相对所述拍摄装置的运动角速度控制所述云台。
- 根据权利要求15所述的控制方法,其特征在于,所述根据所述偏移角速度和所述转动角速度控制所述云台,包括:若所述目标对象相对于所述拍摄装置的实际运动方向和所述云台带着所述拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相同,根据所述偏移角速度与所述转动角速度的和确定所述云台的目标角速度;若所述目标对象相对于所述拍摄装置的实际运动方向和所述云台带着所述拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相反,根据所述转动角速度和所述偏移角速度的差确定所述云台的目标角速度;根据所述目标角速度控制所述云台。
- 根据权利要求17所述的控制方法,其特征在于,若所述目标对象相对于所述拍摄装置的实际运动方向和所述云台带着所述拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相同,根据所述偏移角速度与所述转动角速度的和与跟随调整系数的乘积确定所述云台的目标角速度;若所述目标对象相对于所述拍摄装置的实际运动方向和所述云台带着所述拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相反,根据所述转动角速度和所述偏移角速度的差与跟随调整系数的乘积确定所述云台的目标角速度。
- 根据权利要求18所述的控制方法,其特征在于,若所述目标对象相对于所述拍摄装置的实际运动方向和所述云台带着所述拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相同,所述跟随调整系数的范围是1至1.2;若所述目标对象相对于所述拍摄装置的实际运动方向和所述云台带着所述拍摄装置转动的方向相同,且所述偏移角速度和所述转动角速度的方向相反,所述跟随调整系数的范围是0.8至1。
- 根据权利要求19所述的控制方法,其特征在于,若所述目标对象相对于所述拍摄装置的实际运动方向和所述云台带着所述拍摄装置转动的方向相同, 且所述偏移距离小于等于预设的偏离阈值,所述跟随调整系数为1。
- 根据权利要求1-20中任一项所述的控制方法,其特征在于,在所述目标对象的至少部分不处于所述预设区域时,确定所述图像中的目标对象与预设位置之间的偏移距离,根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度,以及根据所述偏移角度控制所述云台。
- 根据权利要求1-21中任一项所述的控制方法,其特征在于,所述控制方法还包括:对所述图像进行重识别处理,确定所述图像中的所述目标对象。
- 根据权利要求22所述的控制方法,其特征在于,所述对所述图像进行重识别处理,确定所述图像中的所述目标对象,包括:基于深度神经网络,提取所述图像中的头部特征和浅层特征;根据所述头部特征和所述浅层特征,确定所述图像中的所述目标对象。
- 根据权利要求23所述的控制方法,其特征在于,所述根据所述头部特征和所述浅层特征,确定所述图像中的所述目标对象,包括:根据所述头部特征和所述目标对象的目标头部特征之间的第一特征距离,以及所述浅层特征和所述目标对象的目标浅层特征之间的第二特征距离,确定所述图像中的所述目标对象。
- 根据权利要求1-24中任一项所述的控制方法,其特征在于,所述目标对象包括宠物。
- 一种云台,其特征在于,所述云台能够搭载拍摄装置,所述云台包括一个或多个处理器,单独地或共同地工作,用于执行如下步骤:获取所述拍摄装置拍摄的图像;确定所述图像中的目标对象与预设位置之间的偏移距离;根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
- 一种云台的控制设备,其特征在于,所述云台能够搭载拍摄装置,所述控制设备包括一个或多个处理器,单独地或共同地工作,用于执行如下步骤:获取所述拍摄装置拍摄的图像;确定所述图像中的目标对象与预设位置之间的偏移距离;根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
- 一种拍摄装置,其特征在于,所述拍摄装置能够搭载于云台,所述拍摄装置包括一个或多个处理器,单独地或共同地工作,用于执行如下步骤:获取所述拍摄装置拍摄的图像;确定所述图像中的目标对象与预设位置之间的偏移距离;根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
- 一种拍摄系统,其特征在于,所述拍摄系统包括云台和搭载于所述云台的拍摄装置,所述拍摄系统包括一个或多个处理器,单独地或共同地工作,用于执行如下步骤:获取所述拍摄装置拍摄的图像;确定所述图像中的目标对象与预设位置之间的偏移距离;根据所述偏移距离确定所述目标对象在所述图像中或在所述拍摄装置的视野中相对所述拍摄装置的偏移角度;根据所述偏移角度控制所述云台调整所述拍摄装置的姿态,以使所述目标对象位于所述图像中的预设区域。
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时使所述处理器实现如权利要求1-25中任一项所述的云台的控制方法。
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