CN107369178A - The tracking and underwater installation of a kind of submarine target - Google Patents
The tracking and underwater installation of a kind of submarine target Download PDFInfo
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- CN107369178A CN107369178A CN201710615572.4A CN201710615572A CN107369178A CN 107369178 A CN107369178 A CN 107369178A CN 201710615572 A CN201710615572 A CN 201710615572A CN 107369178 A CN107369178 A CN 107369178A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/292—Multi-camera tracking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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Abstract
The invention provides a kind of tracking of submarine target and underwater installation, wherein, this method includes：The tracing figure picture for including tracking target is obtained, tracing figure picture includes the first image and the second image gathered respectively using different cameras；Underwater installation is calculated according to the first image and the second image and tracks the first relative position information between target, and tracking target is tracked based on the first relative position information；Judge whether the underwater installation corresponding to the first relative position information and the first range information tracked between target are more than predetermined threshold value；If so, then by tracking the corresponding answer signal calculating underwater installation of objective emission to tracking objective emission request signal and reception and tracking the second relative position information between target, and be tracked based on the second relative position information to tracking target.The present invention combines binocular tracking and sound wave tracking and realizes and the far and near of tracking target is tracked, and further ensure that the security of target, and practicality is preferable.
Description
Technical field
The present invention relates to target following technical field, tracking in particular to a kind of submarine target and underwater
Equipment.
Background technology
In the research of Marine Sciences, commonly using underwater installation track up submarine target (e.g., scuba diver).Wherein,
Underwater vision is assisted submerged applications, suffered from robot, unmanned plane etc. important extensively as a general technology
Effect.
Under water in machine vision, generally require to position the position of target in every two field picture, and target following exactly its
In key technology.Related Method for Underwater Target Tracking is shot by image capture device to target, with according to shooting
To image the target is tracked.When image capture device distance objective too far when, due to can not effectively identify target
And cause that there is tracking failure, so as to which the security of target can not be further ensured that, cause practicality poor.
The content of the invention
In view of this, it is an object of the invention to provide a kind of tracking of submarine target and underwater installation, with reference to double
Mesh tracks and sound wave tracking realizes and the far and near of tracking target is tracked, and further ensure that the security of target, practicality compared with
It is good.
In a first aspect, the embodiments of the invention provide a kind of tracking of submarine target, methods described includes：
Underwater installation obtains the tracing figure picture for including tracking target, wherein, the tracing figure picture includes taking the photograph using different
The first image and the second image gathered respectively as head；
The between the underwater installation and the tracking target is calculated according to described first image and second image
One relative position information, and the tracking target is tracked based on first relative position information；
Judge first between the underwater installation corresponding to first relative position information and the tracking target
Whether range information is more than predetermined threshold value；
If so, then by it is described tracking objective emission request signal and receive it is described track objective emission with the inquiry
Ask that answer signal corresponding to signal calculates the second relative position information between the underwater installation and the tracking target, and base
The tracking target is tracked in second relative position information.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, institute
Predetermined threshold value is stated to be determined by the image attributes of described first image and/or the image attributes of second image, wherein, described
The image attributes of one image comprises at least the first image definition, and the image attributes of second image comprises at least the second image
Definition.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of second of first aspect, wherein, institute
It is multiple to state answer signal；It is described by it is described tracking objective emission request signal and receive it is described track objective emission with
The second relative position that answer signal corresponding to the request signal is calculated between the underwater installation and the tracking target is believed
Breath, including：
Calculate the phase difference between any two answer signal in multiple answer signals；
Phase difference according to calculating determines the second orientation information between the tracking target and the underwater installation；
According between the second time of the answer signal corresponding to the very first time and reception of launching the request signal
Time difference calculate second distance information between the underwater installation and the tracking target；
The second distance information and the second orientation information are defined as the second relative position information.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the third of first aspect, wherein, institute
State relative according to first between described first image and second image calculating underwater installation and the tracking target
Positional information, including：
The between the underwater installation and the tracking target is calculated according to described first image and second image
One range information；
Traversal search is carried out to described first image, determines first coordinate bit of the tracking target in first image
Confidence ceases；Or traversal search is carried out to second image, determine second seat of the tracking target in second image
Cursor position information；
Determine that the tracking target is relative according to first co-ordinate position information or second co-ordinate position information
The first orientation information of the underwater installation；
First range information and the first orientation information are defined as the first relative position information.
With reference to the third possible embodiment of first aspect, the embodiments of the invention provide the 4th of first aspect kind
Possible embodiment, wherein, it is described that traversal search is carried out to described first image, determine the tracking target in first figure
The first co-ordinate position information as in, including：
First range information corresponding to upper first image based on current first image and first image on this
In tracking target dimensional information, and the first range information corresponding to current first image, determine this current first
The dimensional information of tracking target in image, wherein, current first image and upper first image are using same
The image of one camera collection；
Traversal search is carried out to current first image according to the dimensional information of determination, determines the tracking target at this
The first co-ordinate position information in current first image.
With reference to the third possible embodiment of first aspect, the embodiments of the invention provide the 5th of first aspect kind
Possible embodiment, wherein, it is described according to described first image and second image calculate the underwater installation with it is described
The first range information between target is tracked, including：
The first image feature information is extracted from described first image, and the second image is extracted from second image
Characteristic information；
Using described first image characteristic information as reference information, by all second image feature informations respectively with
Any one of reference information carries out Stereo matching processing, obtains match point corresponding relation；
According to the match point corresponding relation, the parallax information between described first image and second image is calculated；
The first range information between the underwater installation and the tracking target is obtained according to the parallax information.
Second aspect, the embodiment of the present invention additionally provide a kind of underwater installation, and the equipment includes：
Image collection module, for obtaining the tracing figure picture for including tracking target, wherein, the tracing figure picture includes using
The first image and the second image that different cameras gathers respectively；
First calculates tracking module, for according to described first image and second image calculate underwater installation with it is described
Track target between the first relative position information, and based on first relative position information to it is described tracking target carry out with
Track；
Judge module, for judging the underwater installation corresponding to first relative position information and the tracking mesh
Whether the first range information between mark is more than predetermined threshold value；
Second calculates tracking module, for when judging that first range information is more than the predetermined threshold value, then leading to
Cross to the tracking objective emission request signal and receive the response corresponding with the request signal of the tracking objective emission
The second relative position information between underwater installation described in signal of change and the tracking target, and based on the described second relative position
Confidence breath is tracked to the tracking target.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, institute
The first calculating tracking module is stated, including：
First metrics calculation unit, for according to described first image and second image calculate the underwater installation with
The first range information between the tracking target；
Traversal search unit, for described first image carry out traversal search, determine it is described tracking target this first
The first co-ordinate position information in image；Or traversal search is carried out to second image, determine the tracking target at this
The second co-ordinate position information in second image；
First orientation determining unit, for according to first co-ordinate position information or second co-ordinate position information
Determine the first orientation information of the tracking relatively described underwater installation of target；
First position determining unit, for first range information and the first orientation information to be defined as into the first phase
To positional information.
With reference to the first possible embodiment of second aspect, the embodiments of the invention provide second of second aspect
Possible embodiment, wherein, the traversal search unit, including：
Yardstick confirms subelement, for the first range information corresponding to upper first image based on current first image
With the dimensional information of the tracking target in first image on this, and the first distance letter corresponding to current first image
Breath, the dimensional information of the tracking target in current first image is determined, wherein, current first image and described upper one
First image is the image using the collection of same camera；
Traversal search subelement, traversal search is carried out to current first image for the dimensional information according to determination,
Determine the tracking target the first co-ordinate position information in the first image in this prior.
With reference to the first possible embodiment of second aspect, the embodiments of the invention provide the third of second aspect
Possible embodiment, wherein, described second calculates tracking module, including：
Computing unit, for receiving multiple answer signals, and calculate any two answer signal in multiple answer signals
Between phase difference；
Second orientation determining unit, for determining the tracking target and the underwater installation according to the phase difference calculated
Between second orientation information；
Second distance computing unit, for being answered according to corresponding to the very first time and reception of launching the request signal
Time difference between the second time for answering signal calculates the second distance information between the underwater installation and the tracking target；
Second place determining unit, for the second distance information and the second orientation information to be defined as into the second phase
To positional information.
Work as image in the tracking and underwater installation, with correlation technique of a kind of submarine target provided in an embodiment of the present invention
Collecting device distance objective too far when, it is practical due to can not effectively identify that target and causing there is a possibility that tracking failure
Property it is poor compare, its obtain first include tracking target tracing figure picture, wherein, tracing figure picture include use different cameras
The first image and the second image gathered respectively；Then underwater installation and tracking target are calculated according to the first image and the second image
Between the first relative position information, and based on the first relative position information to tracking target be tracked；Furthermore judge first
Whether the first range information between underwater installation corresponding to relative position information and tracking target is more than predetermined threshold value, and
When judging that the first range information is more than predetermined threshold value, by tracking objective emission to tracking objective emission request signal and reception
Answer signal corresponding with request signal calculate underwater installation and track the second relative position information between target, based on the
Two relative position informations are tracked to tracking target, and its first distance between judging underwater installation and tracking target is believed
When breath is more than predetermined threshold value, binocular tracking mode is switched into sound wave tracking mode, and by believing to tracking objective emission inquiry
Number and receive the corresponding answer signal of the tracking objective emission and calculate underwater installation and track the second relative position between target
Confidence ceases, and is tracked based on second relative position information, is realized with reference to binocular tracking and sound wave tracking to tracking target
Far and near tracking, further ensure that the security of target, practicality is preferable.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of flow chart of the tracking for submarine target that the embodiment of the present invention is provided；
Fig. 2 shows the flow chart of the tracking for another submarine target that the embodiment of the present invention is provided；
Fig. 3 shows the flow chart of the tracking for another submarine target that the embodiment of the present invention is provided；
Fig. 4 shows the flow chart of the tracking for another submarine target that the embodiment of the present invention is provided；
Fig. 5 shows the flow chart of the tracking for another submarine target that the embodiment of the present invention is provided；
Fig. 6 shows a kind of module composition schematic diagram for underwater installation that the embodiment of the present invention is provided；
Fig. 7 shows that the first module for calculating tracking module forms in a kind of underwater installation that the embodiment of the present invention is provided
Schematic diagram；
Fig. 8 shows the module composition signal of traversal search unit in a kind of underwater installation that the embodiment of the present invention is provided
Figure；
Fig. 9 shows the module composition of the first metrics calculation unit in a kind of underwater installation that the embodiment of the present invention is provided
Schematic diagram；
Figure 10 shows the module group of the second calculating tracking module in a kind of underwater installation that the embodiment of the present invention is provided
Into schematic diagram.
Main element symbol description：
11st, image collection module；22nd, first tracking module is calculated；33rd, judge module；44th, second tracking module is calculated；
221st, the first metrics calculation unit；222nd, traversal search unit；223rd, first orientation determining unit；224th, first position determines single
Member；441st, computing unit；442nd, second orientation determining unit；443rd, second distance computing unit；444th, the second place determines single
Member；2221st, yardstick confirms subelement；2222nd, traversal search subelement；2211st, feature extraction subelement；2212nd, matching treatment
Subelement；2213rd, disparity computation subelement；2214th, apart from computation subunit.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
It is part of the embodiment of the present invention, rather than whole embodiments.The present invention being generally described and illustrated herein in the accompanying drawings is real
Applying the component of example can be configured to arrange and design with a variety of.Therefore, it is of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on embodiments of the invention, institute that those skilled in the art are obtained on the premise of creative work is not made
There is other embodiment, belong to the scope of protection of the invention.
In view of in correlation technique when image capture device distance objective too far when, due to can not effectively identify target and
Cause that there is tracking failure, so as to which the security of target can not be further ensured that, cause practicality poor.It is based on
This, the embodiments of the invention provide a kind of tracking of submarine target and underwater installation, with reference to binocular tracking and sound wave tracking
Realize and the far and near of tracking target is tracked, further ensure that the security of target, practicality is preferable.
The flow chart of the tracking of submarine target provided in an embodiment of the present invention shown in Figure 1, this method are held
Row main body is controller or other control chips of the underwater installation either in underwater installation, and methods described specifically includes following step
Suddenly：
S101, acquisition include tracking the tracing figure picture of target, wherein, tracing figure picture includes distinguishing using different cameras
The first image and the second image of collection；
Specifically, the specifically, concrete application field of the tracking in view of submarine target provided in an embodiment of the present invention
Scape, the tracing figure in the embodiment of the present invention seem the two images for including tracking target, and the two images are by different two
The image of individual camera or binocular camera synchronous acquisition, but angle is absorbed corresponding to two images and is differed.
S102, the first relative position for calculating underwater installation according to the first image and the second image and tracking between target are believed
Breath, and tracking target is tracked based on the first relative position information；
Set under water specifically, the tracking of submarine target provided in an embodiment of the present invention is calculated by binocular vision algorithm
It is standby with tracking target between the first relative position information, and based on first relative position information to tracking target carry out with
Track.Wherein, above-mentioned first relative position information is included according to the underwater installation that the first image and the second image obtain and tracking mesh
The first range information between mark, and tracking target is with respect to the first orientation information of submarine target.
S103, judge the first range information between underwater installation corresponding to the first relative position information and tracking target
Whether predetermined threshold value is more than；
S104, if so, then by tracking objective emission request signal and receive track objective emission and request signal
Corresponding answer signal calculates underwater installation and tracks the second relative position information between target, and is based on the second relative position
Information is tracked to tracking target.
Specifically, the tracking of submarine target provided in an embodiment of the present invention utilizes the view data of binocular collection to latent
Water person is tracked, and takes photo by plane, when binocular tracking object distance underwater installation it is more and more remote, what object was imaged in the camera
Pixel is less and less, and imaging effect is deteriorated gradually, and tracking effect slowly declines, that is, is judging that it is default that the first range information is more than
During threshold value, increase sound wave tracking, and based on the correspondence that objective emission is tracked to tracking objective emission request signal and reception
The second relative position information for being calculated of answer signal tracked at a distance so that can also reach good on remote
Tracking effect.Wherein, the embodiment of the present invention is tracked at a distance using sound wave mode to target, and preferably sonar track side
Formula.
Wherein, when the embodiment of the present invention is tracked using binocular mode to target, the application that is limited under different waters
Scene will correspond to different predetermined threshold values, wherein, the predetermined threshold value in the embodiment of the present invention is by above-mentioned first image and/or second
The image attributes of image is determined, and above-mentioned image attributes is changed based on different application scenarios.In addition, this
Inventive embodiments are preferably using image definition as image attributes.For example, the figure that equipment obtains under muddy waters reclaimed water
The definition for the image that underwater installation obtains is poor in the definition relative clean waters of picture, then underwater installation is under muddy waters
Ability is substantially insufficient when track at a distance, then should suitably reduce predetermined threshold value to reach optimal binocular tracking effect,
Otherwise make so.For same set of underwater installation, when in muddy waters, the predetermined threshold value is defined as 5m, clean waters can incite somebody to action
Above-mentioned predetermined threshold value is defined as 8m.
In addition, the embodiment of the present invention when the second distance information in the second relative position information exceedes preset range, is incited somebody to action
Sonar alarm signal is sent to above-mentioned tracking target by sonar transmitting terminal, the sonar that tracking target then can be self-contained receives
The above-mentioned sonar alarm signal of data communications reception between end and above-mentioned sonar transmitting terminal, tracking target are then alarmed according to the sonar
Signal learn apart from underwater installation mistake much so that itself slow down and wait above-mentioned underwater installation to shorten underwater installation
The distance between tracking target, so as to re-start binocular tracking so that more details information can be obtained, realize precise positioning
Tracking, practicality is more preferably.
A kind of tracking of submarine target provided in an embodiment of the present invention, with correlation technique when image capture device away from
During from target too far, causing that there is tracking failure due to can not effectively identify target, practicality is poor to be compared,
It cuts binocular tracking mode when judging that underwater installation and the first range information tracked between target are more than predetermined threshold value
Sound wave tracking mode is shifted to, and passes through the corresponding response to tracking objective emission request signal and reception the tracking objective emission
Signal of change underwater installation and tracking target between the second relative position information, based on second relative position information carry out with
Track, realized with reference to binocular tracking and sound wave tracking and the far and near of tracking target tracked, further ensure that the security of target,
Practicality is preferable.
Tracking in view of submarine target provided in an embodiment of the present invention be according to underwater installation with tracking target it
Between the first relative position information and the second relative position information tracking target is tracked, it is seen then that above-mentioned relative position
The determination of information is the committed step of the embodiment of the present invention.The calculating process of above-mentioned second relative position information, especially by such as
Lower step realizes that flow chart shown in Figure 2, methods described also includes：
The phase difference between any two answer signal in S201, the multiple answer signals of calculating；
The phase difference that S202, basis calculate determines the second orientation information between tracking target and underwater installation；
S203, according to transmitting request signal the very first time and reception corresponding to answer signal the second time between when
Between difference calculate underwater installation and track target between second distance information；
S204, second distance information and second orientation information is defined as the second relative position information.
Specifically, the embodiment of the present invention is the speed measurement of round trip time second distance information in water transmission according to sound wave
And phase difference is measured simultaneously and determines second orientation information.In order to determine second distance information and second orientation information, the present invention
The tracking for the submarine target that embodiment provides uses ultra short baseline locating system.Wherein, the alignment system is surveyed including acoustics
Measure equipment and data acquiring and processing device two large divisions.Acoustic measurement apparatus is by the acoustic transducer installed in underwater installation and sets
The acoustics transponder composition in tracking target is put, acoustic transducer transmitting request signal to transponder, transponder is receiving
To after the request signal, the answer signal that transmitting is different from the request signal returns above-mentioned transducer.In addition, the embodiment of the present invention will
Multiple units of transducer array basic matrix are structured the formation according to triangle or right angle, and by taking triangle as an example, the embodiment of the present invention also presses three
Plane of the angular place plane as the frame of reference, by measure contrast unit receive answer signal between
Phase difference determines submarine target and tracks the second orientation information between target, while measures second distance information, you can obtains
Second relative position information.
The calculating process of above-mentioned first relative position information, is realized especially by following steps, flow shown in Figure 3
Figure, methods described also include：
S301, underwater installation is calculated according to the first image and the second image and tracks the first range information between target；
S302, traversal search is carried out to the first image, it is determined that first coordinate position of the tracking target in first image
Information；Or traversal search is carried out to the second image, it is determined that second coordinate bit confidence of the tracking target in second image
Breath；
S303, the relative underwater installation of tracking target is determined according to the first co-ordinate position information or the second co-ordinate position information
First orientation information；
S304, the first range information and first orientation information be defined as the first relative position information.
Specifically, Method for Underwater Target Tracking provided in an embodiment of the present invention is first according to the first image and the second image meter
The first range information corresponding with the first relative position information is calculated, is then searched further according to the traversal to the first image or the second image
Hitch fruit determines first orientation information corresponding with the first relative position information, is finally based on the first range information and first orientation
Information determines the first relative position information.
In order to avoid when carrying out traversal search to the first image to search tracking target, it is necessary to scale or enlarged drawing
The problem of carrying out traversal search and bringing amount of calculation larger, the embodiment of the present invention determine to track as follows target first
The first co-ordinate position information in image, referring to Fig. 4.
First range information corresponding to S401, upper first image based on current first image and this on one first
The dimensional information of tracking target in image, and the first range information corresponding to current first image, determine this current first
The dimensional information of tracking target in image, wherein, current first image and upper first image are to use same shooting
The image of head collection；
S402, according to determination dimensional information to current first image carry out traversal search, it is determined that tracking target deserve
The first co-ordinate position information in preceding first image.
Specifically, the embodiment of the present invention is primarily based on the first distance corresponding to upper first image for current first image
The dimensional information of information and the tracking target on this in first image, and the first distance letter corresponding to current first image
Breath, determine the dimensional information of the tracking target in current first image, then according still further to determination dimensional information to current the
One image carries out traversal search, it is determined that tracking target the first co-ordinate position information in the first image in this prior.It can be seen that this hair
Bright embodiment determines current figure by the dimensional information and range information of a upper image, and the range information of present image
The dimensional information of picture, according to the corresponding relation between the dimensional information and the size of image, the chi in a determination can be ensured
Degree information nearby zooms in and out to image, so as to it is determined that greatly reducing amount of calculation during the first co-ordinate position information.
Likewise, the embodiment of the present invention determines the second co-ordinate position information in the second image as follows, it is based on
First range information corresponding to upper second image for current second image and the tracking target on this in second image
Dimensional information, and the first range information corresponding to current second image determines the tracking target in current second image
Dimensional information, wherein, current second image and upper second image are the image using the collection of same camera；According to
The dimensional information of determination carries out traversal search to current second image, it is determined that tracking target in this prior in the second image second
Co-ordinate position information.Concrete implementation mode is identical with the determination mode of above-mentioned first co-ordinate position information, will not be repeated here.
In order to preferably calculate underwater installation and track the first range information between target, above-mentioned S301 calculating
Journey, realized especially by following steps, flow chart shown in Figure 5, methods described also includes：
S501, the first image feature information is extracted from the first image, and the second image spy is extracted from the second image
Reference ceases；
S502, using the first image feature information as reference information, by the second all image feature informations respectively with appoint
One reference information of meaning carries out Stereo matching processing, obtains match point corresponding relation；
S503, according to match point corresponding relation, calculate the parallax information between the first image and the second image；
S504, underwater installation is obtained according to parallax information and tracks the first range information between target.
Specifically, being formed in view of above-mentioned first image and the second image by multiple pixels, each pixel is right
There should be corresponding characteristic information.The tracking for the submarine target that the embodiment of the present invention is provided, absorbed for binocular camera
The first image and the second image for, using the first image as reference picture, then its corresponding first image feature information is made
For reference information.Wherein, any one pixel is chosen from the first image, and the pixel corresponds to its first characteristics of image letter
Breath, choose what the second image feature information matched with first image feature information from all pixels point in the second image
Pixel, i.e., the pixel to match with any one pixel in the first image is have found from the second image, so as to
To match point corresponding relation.
In binocular vision algorithm in embodiments of the present invention, left camera projection centre is the origin of coordinates, from origin to
Right camera projection centre is X-axis, it is vertical be in front of video camera imaging plane be Z axis, be Y downwards perpendicular to X-Z plane
Axle.After above-mentioned Stereo matching, it can be deduced that the parallax of each match point, with reference to camera parameter matrix, so as to obtain water
The first range information between lower equipment and tracking target.
A kind of tracking of submarine target provided in an embodiment of the present invention, with correlation technique when image capture device away from
During from target too far, causing that there is tracking failure due to can not effectively identify target, practicality is poor to be compared,
It cuts binocular tracking mode when judging that underwater installation and the first range information tracked between target are more than predetermined threshold value
Sound wave tracking mode is shifted to, and passes through the corresponding response to tracking objective emission request signal and reception the tracking objective emission
Signal of change underwater installation and tracking target between the second relative position information, based on second relative position information carry out with
Track, realized with reference to binocular tracking and sound wave tracking and the far and near of tracking target tracked, further ensure that the security of target,
Practicality is preferable.
The embodiment of the present invention additionally provides a kind of underwater installation, and the equipment is used for the track side for performing above-mentioned kind of submarine target
Method, referring to Fig. 6, the equipment includes：
Image collection module 11, for obtaining the tracing figure picture for including tracking target, wherein, tracing figure picture is included using not
The first image and the second image that same camera gathers respectively；
First calculates tracking module 22, for according to the first image and the second image calculate underwater installation and tracking target it
Between the first relative position information, and based on the first relative position information to tracking target be tracked；
Judge module 33, for judging the between underwater installation corresponding to the first relative position information and tracking target
Whether one range information is more than predetermined threshold value；
Second calculates tracking module 44, for when judging that the first range information is more than predetermined threshold value, then by
Track objective emission request signal and receive tracking objective emission answer signal corresponding with request signal calculate underwater installation with
The second relative position information between target is tracked, and tracking target is tracked based on the second relative position information.
It is according to the first phase between underwater installation and tracking target in view of underwater installation provided in an embodiment of the present invention
Positional information and the second relative position information are tracked to tracking target, it is seen then that the determination of above-mentioned relative position information
It is the committed step of the embodiment of the present invention.Referring to Fig. 7, above-mentioned first calculating tracking module 22 includes：
First metrics calculation unit 221, for calculating underwater installation and tracking target according to the first image and the second image
Between the first range information；
Traversal search unit 222, for carrying out traversal search to the first image, it is determined that tracking target is in first image
The first co-ordinate position information；Or traversal search is carried out to the second image, it is determined that tracking target in second image the
Two co-ordinate position informations；
First orientation determining unit 223, for according to the first co-ordinate position information or the determination of the second co-ordinate position information
Track first orientation information of the target with respect to underwater installation；
First position determining unit 224, for the first range information and first orientation information to be defined as into the first relative position
Confidence ceases.
In order to avoid when carrying out traversal search to the first image to search tracking target, it is necessary to scale or enlarged drawing
The problem of carrying out traversal search and bringing amount of calculation larger, referring to Fig. 8, the traversal search unit 222 in the embodiment of the present invention wraps
Include：
Yardstick confirms subelement 2221, for the first distance corresponding to upper first image based on current first image
The dimensional information of information and the tracking target on this in first image, and the first distance letter corresponding to current first image
Breath, the dimensional information of the tracking target in current first image is determined, wherein, current first image and upper first image
For using the image of same camera collection；
Traversal search subelement 2222, traversal search is carried out to current first image for the dimensional information according to determination,
It is determined that tracking target the first co-ordinate position information in the first image in this prior.
In addition, the yardstick in the embodiment of the present invention confirms subelement 2221, upper one based on current second image is additionally operable to
The dimensional information of first range information corresponding to individual second image and the tracking target on this in second image, and currently
First range information corresponding to second image, the dimensional information of the tracking target in current second image is determined, wherein, currently
Second image and upper second image are the image using the collection of same camera；Traversal search subelement 2222, is also used
Traversal search is carried out to current second image in the dimensional information according to determination, it is determined that tracking target is in this prior in the second image
The second co-ordinate position information.Concrete implementation mode is identical with the determination mode of above-mentioned first co-ordinate position information, herein not
Repeat again.
In order to preferably calculate underwater installation and track target between the first range information, referring to Fig. 9, above-mentioned first away from
Include from computing unit 221：
Feature extraction subelement 2211, for extracting the first image feature information from the first image, and from the second figure
The second image feature information is extracted as in；
Matching treatment subelement 2212, for using the first image feature information as reference information, by the second all figures
Picture characteristic information carries out Stereo matching processing with any one reference information respectively, obtains match point corresponding relation；
Disparity computation subelement 2213, for according to match point corresponding relation, calculating between the first image and the second image
Parallax information；
Apart from computation subunit 2214, for underwater installation is obtained according to parallax information and track between target first away from
From information.
In addition, referring to Figure 10, the second calculating tracking module 44 in the embodiment of the present invention includes：
Computing unit 441, for receiving multiple answer signals, and calculate the letter of any two response in multiple answer signals
Phase difference between number；
Second orientation determining unit 442, for being determined according to the phase difference calculated between tracking target and underwater installation
Second orientation information；
Second distance computing unit 443, for response letter corresponding to the very first time according to transmitting request signal and reception
Number the second time between time difference calculate underwater installation and track target between second distance information；
Second place determining unit 444, for second distance information and second orientation information to be defined as into the second relative position
Confidence ceases.
A kind of underwater installation provided in an embodiment of the present invention, with correlation technique when image capture device distance objective too far
When, cause that there is tracking failure due to can not effectively identify target, practicality is poor to be compared, and it is being judged
The first range information between underwater installation and tracking target is when being more than predetermined threshold value, by binocular tracking mode switch to sound wave with
Track mode, and by calculating water with the corresponding answer signal for receiving the tracking objective emission to tracking objective emission request signal
The second relative position information between lower equipment and tracking target, is tracked based on second relative position information, with reference to double
Mesh tracks and sound wave tracking realizes and the far and near of tracking target is tracked, and further ensure that the security of target, practicality compared with
It is good.
The computer program product of the tracking for the progress submarine target that the embodiment of the present invention is provided, including store
The computer-readable recording medium of program code, the instruction that described program code includes can be used for performing in previous methods embodiment
Described method, specific implementation can be found in embodiment of the method, will not be repeated here.
The device that the embodiment of the present invention is provided can be the specific hardware in equipment or the software being installed in equipment
Or firmware etc..The device that the embodiment of the present invention is provided, its realization principle and caused technique effect and preceding method embodiment
Identical, to briefly describe, device embodiment part does not refer to part, refers to corresponding contents in preceding method embodiment.It is affiliated
The technical staff in field can be understood that, for convenience and simplicity of description, system described above, device and unit
Specific work process, the corresponding process in above method embodiment is may be referred to, will not be repeated here.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, can be by others side
Formula is realized.Device embodiment described above is only schematical, for example, the division of the unit, only one kind are patrolled
Function division is collected, there can be other dividing mode when actually realizing, in another example, multiple units or component can combine or can
To be integrated into another system, or some features can be ignored, or not perform.Another, shown or discussed is mutual
Coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
Connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in embodiment provided by the invention can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing, in addition, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, it is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention.The protection in the present invention should all be covered
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
- A kind of 1. tracking of submarine target, it is characterised in that including：Underwater installation obtains the tracing figure picture for including tracking target, wherein, the tracing figure picture includes using different cameras The first image and the second image gathered respectively；The first phase between the underwater installation and the tracking target is calculated according to described first image and second image The tracking target is tracked to positional information, and based on first relative position information；Judge the first distance between the underwater installation corresponding to first relative position information and the tracking target Whether information is more than predetermined threshold value；If so, then by tracking believing with the inquiry for objective emission to the tracking objective emission request signal and reception are described Answer signal corresponding to number calculates the second relative position information between the underwater installation and the tracking target, and is based on institute The second relative position information is stated to be tracked the tracking target.
- 2. according to the method for claim 1, it is characterised in thatThe predetermined threshold value determines by the image attributes of described first image and/or the image attributes of second image, wherein, The image attributes of described first image comprises at least the first image definition, and the image attributes of second image comprises at least the Two image definitions.
- 3. according to the method for claim 1, it is characterised in that the answer signal is multiple；It is described by it is described with Track objective emission request signal and answer signal corresponding with the request signal calculating institute for receiving the tracking objective emission The second relative position information between underwater installation and the tracking target is stated, including：Calculate the phase difference between any two answer signal in multiple answer signals；Phase difference according to calculating determines the second orientation information between the tracking target and the underwater installation；According between the second time of the answer signal corresponding to the very first time and reception of launching the request signal when Between difference calculate second distance information between the underwater installation and the tracking target；The second distance information and the second orientation information are defined as the second relative position information.
- 4. according to the method for claim 1, it is characterised in that described according to described first image and the second image meter The first relative position information between the underwater installation and the tracking target is calculated, including：According to described first image and second image calculate between the underwater installation and the tracking target first away from From information；Traversal search is carried out to described first image, determines first coordinate bit confidence of the tracking target in first image Breath；Or traversal search is carried out to second image, determine second coordinate bit of the tracking target in second image Confidence ceases；Determine that the tracking target is relatively described according to first co-ordinate position information or second co-ordinate position information The first orientation information of underwater installation；First range information and the first orientation information are defined as the first relative position information.
- 5. according to the method for claim 4, it is characterised in that it is described that traversal search is carried out to described first image, it is determined that First co-ordinate position information of the tracking target in first image, including：First range information corresponding to upper first image based on current first image and this in first image The dimensional information of target, and the first range information corresponding to current first image are tracked, determines current first image In tracking target dimensional information, wherein, current first image and upper first image are using same The image of camera collection；Traversal search is carried out to current first image according to the dimensional information of determination, determines the tracking target in this prior The first co-ordinate position information in first image.
- 6. according to the method for claim 4, it is characterised in that described according to described first image and the second image meter The first range information between the underwater installation and the tracking target is calculated, including：The first image feature information is extracted from described first image, and the second characteristics of image is extracted from second image Information；Using described first image characteristic information as reference information, by all second image feature informations respectively with arbitrarily One reference information carries out Stereo matching processing, obtains match point corresponding relation；According to the match point corresponding relation, the parallax information between described first image and second image is calculated；The first range information between the underwater installation and the tracking target is obtained according to the parallax information.
- A kind of 7. underwater installation, it is characterised in that including：Image collection module, for obtaining the tracing figure picture for including tracking target, wherein, the tracing figure picture is included using different Camera the first image and the second image that gather respectively；First calculates tracking module, for calculating underwater installation and the tracking according to described first image and second image The first relative position information between target, and the tracking target is tracked based on first relative position information；Judge module, for judge the underwater installation corresponding to first relative position information and the tracking target it Between the first range information whether be more than predetermined threshold value；Second calculate tracking module, for when judging that first range information is more than the predetermined threshold value, then pass through to The tracking objective emission request signal and the answer signal corresponding with the request signal for receiving the tracking objective emission The second relative position information between the underwater installation and the tracking target is calculated, and is believed based on second relative position Breath is tracked to the tracking target.
- 8. underwater installation according to claim 7, it is characterised in that described first calculates tracking module, including：First metrics calculation unit, for according to described first image and second image calculate the underwater installation with it is described Track the first range information between target；Traversal search unit, for carrying out traversal search to described first image, determine the tracking target in first image In the first co-ordinate position information；Or to second image carry out traversal search, determine it is described tracking target this second The second co-ordinate position information in image；First orientation determining unit, for according to first co-ordinate position information or second co-ordinate position information determination The first orientation information of the tracking relatively described underwater installation of target；First position determining unit, for first range information and the first orientation information to be defined as into the first relative position Confidence ceases.
- 9. underwater installation according to claim 8, it is characterised in that the traversal search unit, including：Yardstick confirms subelement, for the first range information corresponding to upper first image based on current first image and is somebody's turn to do The dimensional information of tracking target in upper first image, and the first range information corresponding to current first image, The dimensional information of the tracking target in current first image is determined, wherein, current first image and described upper one One image is the image using the collection of same camera；Traversal search subelement, traversal search is carried out to current first image for the dimensional information according to determination, it is determined that The tracking target the first co-ordinate position information in the first image in this prior.
- 10. underwater installation according to claim 7, it is characterised in that described second calculates tracking module, including：Computing unit, for receiving multiple answer signals, and calculate between any two answer signal in multiple answer signals Phase difference；Second orientation determining unit, for being determined according to the phase difference calculated between the tracking target and the underwater installation Second orientation information；Second distance computing unit, for the response letter according to corresponding to the very first time and reception of launching the request signal Number the second time between time difference calculate second distance information between the underwater installation and the tracking target；Second place determining unit, for the second distance information and the second orientation information to be defined as into the second relative position Confidence ceases.
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