CN106204656A - Target based on video and three-dimensional spatial information location and tracking system and method - Google Patents
Target based on video and three-dimensional spatial information location and tracking system and method Download PDFInfo
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- CN106204656A CN106204656A CN201610579894.3A CN201610579894A CN106204656A CN 106204656 A CN106204656 A CN 106204656A CN 201610579894 A CN201610579894 A CN 201610579894A CN 106204656 A CN106204656 A CN 106204656A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30241—Trajectory
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Abstract
The present invention provides a kind of and registrates the target location merged based on video and three-dimensional spatial information and follow the tracks of system and method, and the method includes: step 1, obtains scene and the video information of target by video camera；Step 2, sets up three-dimensional virtual scene, the video information of camera acquisition is fused in three-dimensional spatial information, forms the destination virtual scene with space coordinates；Step 3, gathers the information of moving target, obtains the space coordinates of target based on the scaling method demarcating thing, and in three-dimensional virtual scene, imaging shows.The target based on video with three-dimensional spatial information registration fusion that the application provides positions and follows the tracks of system and method, video information can be merged with three-dimensional spatial information, show with three-dimensional display visual pattern, observes for people and analyze.
Description
Technical field
The present invention relates to information fusion technology field, more particularly, to a kind of based on video and three-dimensional spatial information
Target location and tracking system and method.
Background technology
At present, the target location merged and tracking are registrated based on video and three-dimensional spatial information so that user is straight
See ground, from a virtual real platform, obtain spatial information positioning and the movement locus of moving target exactly.
Primary limitation is gone back from the application in every profession and trade of merging of current technology, video and three-dimensional spatial information technology
In to the management of various geography information key elements and two three-dimensional spatial information displaying aspects, analyzing, in terms of decision-making and professional service
Still in the stage of fumbling.How true to nature with tracked information for the space orientation of moving object complicated for macroscopic view is illustrated in people's eye
Before, how by spatial information wide range of services polynary for magnanimity in daily life, how by advanced video and space
The problem being to need to solve applied effectively by the platform of information fusion.
In recent years, location technology based on geospatial information is at public safety service, dynamic resource management, boats and ships pipe
The many-sides such as reason, navigation and intelligent transportation system (ITS) are all widely used, and location technology worldwide receives height
Degree attention and conduct in-depth research.
Common location algorithm is studied and is all based on the two dimension without video fusion or three-dimensional spatial information platform, but
Not only it needs to be determined that the coordinate of moving target in actual application, in addition it is also necessary to know that the concrete space of moving target positions and chases after
Track, particularly under the downtown area that skyscraper stands in great numbers or the yo-yo mountain environment of height, this demand is more urgent.
Summary of the invention
The present invention provide a kind of overcome the problems referred to above or at least in part solve the problems referred to above based on video and three-dimensional
The target that spatial information registration merges positions and follows the tracks of system and method.In order to solve the problems referred to above, according to perspective imaging with take the photograph
Shadow measures agreement principle, proposes based on three-dimensional scenic simulation imaging, and relies on the corresponding pass between video image with emulating image
System carries out the space-location method of target in geographic scenes.
According to an aspect of the present invention, it is provided that a kind of target location registrating fusion based on video and three-dimensional spatial information
It is characterized in that with tracking, including: step 1, obtain scene and the video information of target by video camera；Step 2, sets up
Three-dimensional virtual scene, is fused to the video information of camera acquisition in three-dimensional spatial information, forms the mesh with space coordinates
Mark virtual scene；Step 3, gathers the information of moving target, obtains the space coordinates of target based on the scaling method demarcating thing,
In three-dimensional virtual scene, imaging shows.
Another aspect according to the application, it is provided that a kind of target location registrating fusion based on video and three-dimensional spatial information
With the system of tracking, position including camera acquisition module, three-dimensional virtual scene module, three dimensions imaging wooden unit and moving target
With tracing module；Described camera acquisition module, for recorded video and transmission video, obtains scene and the video information of target；
Described three-dimensional virtual scene module is used for setting up three-dimensional virtual scene, and the video-splicing of camera acquisition is fused to three-dimensional space
Between, form the virtual scene of carrying space coordinate；Described three dimensions image-forming module, for all moving targets data acquisition with
And the imaging at three-dimensional virtual scene；Described coordinates of targets location and tracing module, for moving object at video and three-dimensional space
Between merge after platform on space orientation and movement locus follow the trail of.
The target based on video with three-dimensional spatial information registration fusion that the application provides positions and follows the tracks of system and method,
Video information can be merged with three-dimensional spatial information, show with three-dimensional display visual pattern, see for people
Examine, use and analyze.For example, it is possible to see from the platform that video information and three-dimensional spatial information merge certain moving object
The three-dimensional spatial information in certain moment and video information, it is also possible to follow the tracks of its movement locus.
The application can use various technological means, collects data through various channels, specifically includes adopting of spatial data
Collection and the collection of attribute data.The system of the application also has data management function, using the teaching of the invention it is possible to provide video data and three dimensions
The unification of data stores, retrieves, inquires about, revises function, and can edit platform in different range, has several and regards
Frequency splicing fusion function, and be automatically fused on three-dimensional spatial information.
The system of the application can realize calculating and the analytic function of data, and this function is video and three-dimensional spatial information is joined
The Core Feature of quasi-emerging system, by the distance measurements calculation etc. between computing function and the locus of GIS-Geographic Information System, comes
Calculate location and the track following of moving object.Further, to some extent solve on VR-Platform target
The problem of locating and tracking.
Accompanying drawing explanation
Fig. 1 is the space orientation schematic diagram of the monitoring objective according to the embodiment of the present invention；
Fig. 2 is registrating the target location merged based on video and three-dimensional spatial information and following the tracks of according to the embodiment of the present invention
The flow chart of method.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the detailed description of the invention of the present invention is described in further detail.Hereinafter implement
Example is used for illustrating the present invention, but is not limited to the scope of the present invention.
It is appreciated that three dimensions is the space that the position given directions is determined by three coordinates, the realistic space of objective reality
It is exactly three dimensions, there is length three kinds tolerance.Target location mentioned by the application refers to that target is in video and three-dimensional
The positional information location in system after spatial information registration fusion.The tracking that the application mentions refers to that following the tracks of target is regarding
The method of the location information in system after frequency and three-dimensional spatial information registration fusion.
Fig. 1 illustrate according to embodiments of the present invention registrate based on video and three-dimensional spatial information the target location merged and with
The overview flow chart of track method, as it is shown in figure 1, described method includes: step 1, obtains regarding of scene and target by video camera
Frequently information；Step 2, sets up three-dimensional virtual scene based on digital elevation model (Digital Elevation Model, DEM), will
The video fusion of camera acquisition, to three dimensions, forms the destination virtual scene with space coordinates；Step 3, gathers motion
The information of target, obtains the space coordinates of target based on the scaling method demarcating thing, and in three-dimensional virtual scene, imaging shows.Institute
Method of stating also includes step 4, is fused in three-dimensional digital earth system by multi-channel video registration.
Further, step 3 also includes: according to the space coordinates of each moment moving target, obtains moving target each
Displacement, speed and acceleration on three directions of moment, location and the track of pursuit movement target.
Wherein, in step 3, calculating in the three dimensions absolute coordinate of moving target, this method uses video camera based on mark
The scaling method of earnest.
Further, step 3 also includes, calculates principal point coordinate and aspect ratio first with plane template scaling method, then
Use Tsai video camera to carry out camera calibration, and calculate its projection matrix；In order to obtain accurate calibrating parameters, utilize first
Three dimensional space coordinate is projected to the difference of two dimensional image coordinate and true two dimensional image coordinate by the projection matrix obtained, by repeatedly
Generation optimizes tries to achieve the most accurate camera parameter；Finally utilize back projection's matrix and need the movement destination image coordinate of location
Calculate the three dimensions absolute coordinate position of moving target.
Wherein, in step 2, use and carry out target location based on video and three-dimensional information registration fusion.Fig. 2 is illustrated based on
The target that video and three-dimensional spatial information registration merge positions the flow chart with tracking, as in figure 2 it is shown, step 2 includes: enter
Row camera calibration；Solve the parameter that the coordinate system of camera model external parameter, i.e. video camera is relevant；Solve camera model
The focal length of inner parameter, i.e. video camera, distortion coefficients of camera lens etc.；Calculate the projection matrix between two video cameras；Calculate based on
The 3 d space coordinate of the platform after video and three-dimensional spatial information fusion, and export spatial orientation information and tracked information.
Further, in order to determine the three-dimensional geometry position of space object surface point and they are in the picture between corresponding point
Mutual relation, it is necessary to set up the geometric model of video camera imaging, these geometric model parameters are exactly camera parameters.
Utilize given object reference point coordinate (x, y, z) and the image coordinate of given object (u v) determines video camera
Internal geometry and optical characteristics (inner parameter) and video camera coordinate relation (external parameter) in three-dimensional world.Internal
Parameter includes the ginsengs such as lens focus f, distortion coefficients of camera lens (k, s, p), coordinate warping factor s and image coordinate initial point (u0, v0)
Number.External parameter includes the parameters such as camera coordinate system spin matrix R and translation vector T relative to world coordinate system.
Specifically, solve overdetermined linear system first with method of least square, try to achieve model external parameter；Then asking
By the horizontal spacing of the photosensitive unit of CCD (charge coupled device) array and longitudinal pitch as known parameters in solution preocess, solve takes the photograph
Camera inner parameter.
Position relationship between above-described calculating process, intrinsic parameters of the camera and two video cameras is the most
Through knowing, next calculate the projection matrix of two video cameras.
Make the position initial point as world coordinate system at first video camera place, the then projection matrix of two video cameras
For:
Wherein, K1,K2For camera intrinsic parameter matrix, R, T are the rotation between two video cameras and translation matrix, because
First video camera position is the initial point of world coordinate system, so R, T namely the second lattice video camera is for world coordinates
The rotation of system and translation matrix.
It follows that utilize in space the distance between known 2 to calculate scale factor, by triangle positioning principle meter
The moving target 3 d space coordinate calculated is multiplied by scale factor and obtains real relative spatial co-ordinates position.By same method
Obtain the space coordinates of each moment moving target, then calculate moving target displacement on three directions in each moment,
Speed, acceleration, just can trace into the track of moving target according to these data.
Wherein, in step 4, the method that multi-channel video registration is fused to three-dimensional digital earth system is included: by shooting
Machine calibration algorithm obtains the parameter of video camera, then utilizes camera parameter to ask for projection matrix, finally utilizes the former of triangle
Reason calculates spatial three-dimensional position.The method has a following characteristics: (1), be applicable between video camera the scene that has the overlapping ken, the most extremely
There are two video cameras less, and the space coordinates calculated is first video camera world coordinates initial point that be relative and that set
Position；(2), method be applicable to all scenes in indoor and outdoor because not using GPS, do not limited by indoor and outdoor；(3)、
This method also has the error of existence: camera calibration uses the method for self-calibration, and camera model does not consider abnormal
Situation about becoming, because the method that this method uses tradition demarcation, camera model uses band single order radial distortion
Model, so can bring error of coordinate, if needing higher precision, in addition it is also necessary to improve further.
Another embodiment according to the application, it is provided that a kind of target registrating fusion based on video and three-dimensional spatial information
Location and the system of tracking, this system includes camera acquisition module, three-dimensional virtual scene module, three dimensions imaging wooden unit and fortune
Moving targets location and tracing module.This system also includes three-dimensional digital earth Fusion Module.
Specifically, described camera acquisition module, for recorded video and transmission video, obtains scene and the video of target
Information.
Three-dimensional virtual scene module, is used for setting up three-dimensional virtual scene, and the video-splicing of camera acquisition is fused to three
Dimension space, forms the virtual scene of a carrying space coordinate.
Three dimensions image-forming module, the data acquisition for all moving targets and the imaging at three-dimensional virtual scene.
Coordinates of targets location and tracing module, the sky on moving object platform after video merges with three dimensions
Between location with movement locus follow the trail of.
Wherein, described three dimensions image-forming module is additionally operable to, based on video camera scaling method based on demarcation thing, calculate fortune
In the three dimensions absolute coordinate of moving-target.
Further, described three dimensions image-forming module also includes, calculates principal point first with plane template scaling method and sits
Mark and aspect ratio, then use Tsai video camera to carry out camera calibration, and calculate its projection matrix；In order to be marked accurately
Determine parameter, utilize the projection matrix obtained for the first time that three dimensional space coordinate projects to two dimensional image coordinate and sit with true two dimensional image
Target difference, tries to achieve the most accurate camera parameter by iteration optimization；Finally utilize back projection's matrix and need location
Movement destination image coordinate calculates the three dimensions absolute coordinate position of moving target.
Wherein, described coordinates of targets location is additionally operable to tracing module: carry out camera calibration；Solve outside camera model
The parameter that the coordinate system of portion's parameter, i.e. video camera is relevant；Solve focal length and the camera lens of camera model inner parameter, i.e. video camera
Distortion factor etc.；Calculate the projection matrix between two video cameras；Calculate putting down after merging with three-dimensional spatial information based on video
The 3 d space coordinate of platform, and export spatial orientation information and tracked information.
Further, in order to determine the three-dimensional geometry position of space object surface point and they are in the picture between corresponding point
Mutual relation, it is necessary to set up the geometric model of video camera imaging, these geometric model parameters are exactly camera parameters.
Utilize given object reference point coordinate (x, y, z) and the image coordinate of given object (u v) determines video camera
Internal geometry and optical characteristics (inner parameter) and video camera coordinate relation (external parameter) in three-dimensional world.Internal
Parameter includes the ginsengs such as lens focus f, distortion coefficients of camera lens (k, s, p), coordinate warping factor s and image coordinate initial point (u0, v0)
Number.External parameter includes the parameters such as camera coordinate system spin matrix R and translation vector T relative to world coordinate system.
Finally, the present processes is only preferably embodiment, is not intended to limit protection scope of the present invention.All
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included in the protection of the present invention
Within the scope of.
Claims (10)
1. target location and the tracking registrating fusion based on video and three-dimensional spatial information, it is characterised in that including:
Step 1, obtains scene and the video information of target by video camera；
Step 2, sets up three-dimensional virtual scene, the video information of camera acquisition is fused in three-dimensional spatial information, forms tool
There is the destination virtual scene of space coordinates；
Step 3, gathers the information of moving target, obtains the space coordinates of target based on the scaling method demarcating thing, three-dimensional empty
Intend imaging in scene to show.
Method the most according to claim 1, it is characterised in that described method also includes:
Step 4, is fused to multi-channel video registration in three-dimensional digital earth system.
Method the most according to claim 1, it is characterised in that step 3 also includes:
According to the space coordinates of each moment moving target, obtain moving target displacement on three directions of each moment, speed
Degree and acceleration, location and the track of pursuit movement target.
Method the most according to claim 1, it is characterised in that described step 3 also includes:
Plane template scaling method is utilized to calculate principal point coordinate and aspect ratio；
Use Tsai video camera to carry out camera calibration, and calculate its projection matrix；
Utilize the projection matrix obtained for the first time that three dimensional space coordinate projects to two dimensional image coordinate and true two dimensional image coordinate
Difference, try to achieve accurate camera parameter by iteration optimization；
Utilize back projection's matrix and need the movement destination image coordinate of location definitely to sit to the three dimensions calculating moving target
Cursor position.
Method the most according to claim 1, it is characterised in that described step 3 also includes:
Carry out camera calibration；
Solve camera model external parameter and inner parameter；
Calculate the projection matrix between two video cameras；
Calculate the 3 d space coordinate of the platform after merging with three-dimensional spatial information based on video, and export spatial orientation information
With tracked information.
Method the most according to claim 5, it is characterised in that obtain camera model in described step 3 and include:
The given reference point coordinate of object and the image coordinate of given object is utilized to determine the geometry within video camera and optics
Characteristic and the video camera coordinate relation in three-dimensional world；
Described inner parameter includes lens focus, distortion coefficients of camera lens, coordinate warping factor and image coordinate initial point parameter, described
External parameter includes that camera coordinate system is relative to the spin matrix of world coordinate system and translation vector.
Method the most according to claim 6, it is characterised in that the solution procedure bag of described inner parameter and external parameter
Include:
Utilize method of least square to solve overdetermined linear system, obtain model external parameter；
Horizontal spacing and the longitudinal pitch of photosensitive for charge coupled device array unit are joined as known parameters, the video camera solved inside
Number.
Method the most according to claim 7, it is characterised in that the solution procedure of described projection matrix includes:
Using the position at first video camera place as the initial point of world coordinate system, then the projection matrix of two video cameras is:
Wherein, K1,K2For camera intrinsic parameter matrix, R, T are the rotation between two video cameras and translation matrix；
Utilize the distance calculating scale factor between known 2, triangle positioning principle the motion mesh calculated in space
Mark 3 d space coordinate is multiplied by scale factor and obtains real relative spatial co-ordinates position.
9. target location and the system of tracking registrating fusion based on video and three-dimensional spatial information, it is characterised in that include
Camera acquisition module, three-dimensional virtual scene module, three dimensions imaging wooden unit and moving target location and tracing module；
Described camera acquisition module, for recorded video and transmission video, obtains scene and the video information of target；Described three
Dimension virtual scene module is used for setting up three-dimensional virtual scene, and the video-splicing of camera acquisition is fused to three dimensions, is formed
The virtual scene of carrying space coordinate；Described three dimensions image-forming module, for the data acquisition of all moving targets and three
The imaging of dimension virtual scene；Described coordinates of targets location and tracing module, merge with three dimensions at video for moving object
After platform on space orientation and movement locus follow the trail of.
System the most according to claim 9, it is characterised in that described three dimensions image-forming module is additionally operable to:
Plane template scaling method is utilized to calculate principal point coordinate and aspect ratio；
Use Tsai video camera to carry out camera calibration, and calculate its projection matrix；
Utilize the projection matrix obtained for the first time that three dimensional space coordinate projects to two dimensional image coordinate and true two dimensional image coordinate
Difference, try to achieve accurate camera parameter by iteration optimization；
Utilize back projection's matrix and need the movement destination image coordinate of location definitely to sit to the three dimensions calculating moving target
Cursor position.
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