CN109922251A - The method, apparatus and system quickly captured - Google Patents
The method, apparatus and system quickly captured Download PDFInfo
- Publication number
- CN109922251A CN109922251A CN201711322098.2A CN201711322098A CN109922251A CN 109922251 A CN109922251 A CN 109922251A CN 201711322098 A CN201711322098 A CN 201711322098A CN 109922251 A CN109922251 A CN 109922251A
- Authority
- CN
- China
- Prior art keywords
- camera
- target
- distance
- ptz
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000012544 monitoring process Methods 0.000 claims abstract description 22
- 238000004364 calculation method Methods 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 15
- 230000006870 function Effects 0.000 description 11
- 238000003860 storage Methods 0.000 description 11
- 238000004891 communication Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 9
- 238000003384 imaging method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 229910044991 metal oxide Inorganic materials 0.000 description 2
- 150000004706 metal oxides Chemical class 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 101000969688 Homo sapiens Macrophage-expressed gene 1 protein Proteins 0.000 description 1
- 102100021285 Macrophage-expressed gene 1 protein Human genes 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 108091008695 photoreceptors Proteins 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
Abstract
The embodiment of the invention provides method, equipment and systems that one kind is quickly captured, this method comprises: the target in the current picture of detection stereo vision camera monitoring, target is calculated at a distance from stereo vision camera and angle, according to target at a distance from stereo vision camera and angle obtains the object distance and angle of target and ptz camera, and according to the object distance and angle calculation acquisition parameters of target and ptz camera, according still further to the lens focus and shooting angle of acquisition parameters adjustment ptz camera.The embodiment of the present invention calculates the distance and angle of target using stereo vision camera by binocular ranging technology, ptz camera is obtained rapidly to capture the acquisition parameters of target and make adjustment, the step of eliminating auto-focusing shortens the time of focusing, realizes and quickly captures target.
Description
Technical field
This application involves field of video monitoring, in particular to a kind of to realize the method, apparatus and system quickly captured.
Background technique
With the development of present Video Supervision Technique, monitoring is from simple record video to intelligent development.In many prisons
The demand controlled under scene to detection and the identification of target is increasing, this just needs quickly to capture and extracts target.Current camera
It generallys use contrast focusing mode and carries out focus operation, determine current focusing whether most using the intensity of the contrast texture of image
Clearly on position.The focusing technology directly determines the image information obtained, so precision is higher, but entire due to needing to analyze
Focus process, thus focusing speed is slower, is unable to satisfy the demand of rapid focus.
Existing technical solution of capturing is combined using the pan focus camera lens and wide-angle lens of fixed focal length, in wide-angle lens
After upper discovery target, the target of fixed distance is directly captured the characteristics of small using pan focus lens aperture, the big depth of field.But by
It is that the design of tight shot can only be used, and may be only available in limited range using fixed aperture and focal length in pan focus camera lens
Object shooting, can not zoom, use scope limited to.
Summary of the invention
The embodiment of the invention provides one kind method, apparatus and system quickly captured, can be realized detect target it
The image for quickly positioning, quickly focusing and quickly being captured to target afterwards.
In order to achieve the above objectives, the embodiment of the present invention provides the following technical solutions:
In a first aspect, the embodiment of the present invention provides a kind of method quickly captured, this method comprises: firstly, detection first
Target in the current picture of camera monitoring calculates target at a distance from first camera and angle；Then, according to obtained distance
Acquisition parameters required for target are captured with angle calculation second camera, acquisition parameters include lens focus and shooting angle；Most
Afterwards, target is captured later according to the angle of acquisition parameters adjustment second camera and the focal length of camera lens.Due to being examined by first camera
It surveys target and calculates the distance of target, and then obtain the acquisition parameters of second camera, the focusing time of second camera can be reduced,
More in time, the image for arriving target is more clearly captured.
Wherein, first camera is stereo vision camera, and second camera is PTZ (Pan/Tilt/Zoom) camera.
Ptz camera can set the angle to the bat of ptz camera when receiving the distance and angle of first camera calculating
Angle is taken the photograph, sets the distance to the object distance of target and ptz camera, the lens focus of ptz camera is obtained according to the object distance, in turn
Target is captured according to above-mentioned shooting angle and lens focus adjustment ptz camera.
It is alternatively possible to by the table of comparisons of inquiry object distance and the lens focus of ptz camera to obtain the camera lens of ptz camera
Focal length.
In a kind of possible design, more accurately to adjust ptz camera, can calculate target apart from when calculate should
Apart from corresponding range estimation error, when obtaining object distance, ptz camera is calculated in the depth of field of the object distance, compares range estimation mistake
The size of difference and the depth of field captures mesh according to acquisition parameters adjustment ptz camera if range estimation error is less than or equal to the depth of field later
Mark；If range estimation error is greater than the depth of field, after adjusting ptz camera according to acquisition parameters, the focal length of adjust automatically camera lens is simultaneously grabbed
Clap target.Because then the depth of field is capable of the range estimation error model of coverage goal at this time when the depth of field is more than or equal to range estimation error
It encloses, even if there are certain errors apart from calculating, but also in field depth, clearly image can be taken, can directly be pressed
Target is captured according to acquisition parameters adjustment ptz camera；But if the depth of field is less than range estimation error, and the depth of field can not all cover mesh at this time
Target range estimation error range, it is likely that target clearly image can not be taken, therefore, it is necessary to according to acquisition parameters tune
Auxiliary auto-focusing is carried out after whole ptz camera again and captures target, ptz camera could be adjusted according to the actual situation in this way, obtained
Clearer target image.
In some cases, it can be possible to detect multiple targets in the current picture of stereo vision camera, multiple mesh are calculated
Mark obtains the lens parameters of ptz camera according to distance and angle calculation, and according to excellent at a distance from stereo vision camera and angle
First grade determines the candid photograph sequence of multiple targets, captures target respectively according to determining candid photograph sequence, is determined according to priority multiple
Whether parameter based on the candid photograph sequence of target includes orientation where target, angle, distance, running track or will leave
Monitoring area etc..
Second aspect, the embodiment of the present invention provide a kind of quick capturing system, comprising: first camera, it is current for obtaining
Monitoring picture, the target in detection monitoring picture calculates target at a distance from first camera and angle, and should be away from walk-off angle
Degree is sent to second camera；Second camera, for receiving the distance and angle of first camera transmission, according to this distance and goniometer
The acquisition parameters for calculating second camera capture target according to acquisition parameters adjustment second camera, wherein acquisition parameters include camera lens coke
Away from and shooting angle.
The third aspect, the embodiment of the present invention also provide a kind of quick grasp shoot device, comprising: first camera, for while from
Two camera lenses obtain current monitoring picture；Processor, for detecting the target in first camera current picture and calculating target
The distance between first camera and angle, according to this distance with the acquisition parameters of angle calculation second camera, and control second
Camera captures target, wherein acquisition parameters include shooting angle and lens focus；Second camera, for capturing target.
Fourth aspect, the embodiment of the present invention also provide a kind of computer readable storage medium, above-mentioned quick for being stored as
Computer software instructions used in grasp shoot device and/or system, it includes the method institutes provided for executing above-mentioned first aspect
The program code of design.
The embodiment of the present invention discloses a kind of quick grasp shoot method, apparatus and system, in this method by above-mentioned aspect
In, pass through the distance and angle of stereovision technique rapid survey target first, and then obtain candid photograph camera and shoot ginseng accordingly
Number, and quickly adjusted according to the acquisition parameters and capture camera, complete the candid photograph to target.Compared with prior art, the present invention is real
The acquisition parameters for capturing camera can more be determined accurately and fast by applying method disclosed in example, reduce the focusing for capturing camera
Time has higher accuracy, keeps candid photograph more timely, image is relatively sharp.
The aspects of the invention or other aspects can more straightforwards in the following description.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of quick capturing system provided in an embodiment of the present invention.
Fig. 2 is a kind of structural schematic diagram of quick grasp shoot device provided in an embodiment of the present invention.
Fig. 3 is the structural schematic diagram of web camera provided in an embodiment of the present invention.
Fig. 4 is the schematic diagram for the method that one kind provided in an embodiment of the present invention is quickly captured.
Fig. 5 is a kind of schematic diagram for calculating target and stereo vision camera distance and angle provided in an embodiment of the present invention.
Fig. 6 is a kind of schematic diagram of coordinates of targets conversion provided in an embodiment of the present invention.
Fig. 7 is a kind of schematic diagram of method for calculating the depth of field provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing, technical solution in the embodiment of the present invention is described.It is specific in embodiment of the method
Operating method also can be applied in Installation practice or system embodiment.Wherein, in the description of the present invention, unless otherwise saying
Bright, the meaning of " plurality " is two or more.
As shown in Figure 1, the system 100 quickly captured for one kind provided in an embodiment of the present invention, including first camera and the
Two cameras, wherein first camera is stereo vision camera 110, and second camera is PTZ (Pan/Tilt/Zoom) camera 120.
There are two camera lenses for the assembly of stereo vision camera 110 in the system, can simulate human vision principle, not from two
Same angle obtains the two images of current scene simultaneously, using the difference of two images shooting angle, according to picture between image
The matching relationship of element, calculates the actual range and angle between the target and stereo vision camera in image, and then calculate
Coordinate of the target in 110 coordinate system of stereo vision camera.Stereo vision camera 110 in the embodiment of the present invention refer to for
The camera or phase unit of current scene image are obtained from different camera lenses simultaneously, this name itself does not constitute restriction to equipment,
It can be other names, such as: binocular stereo vision camera, binocular camera, binocular ranging camera or stereoscopy passive ranging camera.
In practice, two common video cameras be can use to form one group of stereo vision camera, it can also be by two general camera mirrors
Head is integrated to form stereo vision camera on one device.
It can also include multiple groups stereo vision camera in quick capturing system 100 in the embodiment of the present invention, to expand prison
Survey range.Below only to illustrate technical solution of the present invention the case where one group of stereo vision camera, multiple groups stereo vision camera
Situation is referred to the technical solution under one group of stereo vision camera.
The ptz camera 120 in quick capturing system 100 in the embodiment of the present invention is equipped with holder, can be realized full side
Position (left and right/up and down) mobile and camera lens zoom, Zoom control, for according to the distance between target and stereo vision camera and angle
Degree obtains the acquisition parameters that ptz camera 120 captures the target, including shooting focal length and shooting angle, and according to obtained parameter
Adjust the image that ptz camera 120 captures target later.
When above-mentioned quick capturing system 100 works, stereo vision camera 110 obtains current monitoring from two camera lenses simultaneously
Picture, the currently monitored picture include the first picture and the second picture, and first picture and second picture are respectively described
The picture that the first camera lens and the second camera lens of stereo vision camera 110 are shot in synchronization.The detection of stereo vision camera 110 is worked as
Target in preceding picture, and the target is calculated after detecting target at a distance from stereo vision camera 110 and angle.If inspection
Multiple targets are measured, then calculate separately each target at a distance from stereo vision camera 110 and angle.Then, stereoscopic vision phase
Machine 110 is by target at a distance from stereo vision camera 110 and angle is sent to ptz camera 120.Ptz camera 120 receives solid
After distance and angle that vision camera 110 is sent, according to target at a distance from stereo vision camera 110 and angle, calculate
The acquisition parameters of target are captured to ptz camera 120.After obtaining acquisition parameters, ptz camera 120 adjusts PTZ according to acquisition parameters
The focal length of 120 camera lens of angle and ptz camera of camera 120.After completing adjustment, ptz camera 120 captures the image of target.
In the case where needing to capture the image of target more accurately, stereo vision camera 110 can also calculate target
Corresponding range estimation error and be sent to ptz camera 120, ptz camera 120 can also calculate target and ptz camera 120
The corresponding depth of field of object distance.Ptz camera 120 compares the depth of field at the range estimation error and object distance of target before adjustment, if the depth of field
More than or equal to range estimation error, ptz camera 120 directly is adjusted according to acquisition parameters and captures target；If the depth of field is less than distance
Estimation error then continues to control 120 auto-focusing of ptz camera later according to acquisition parameters adjustment ptz camera 120.
In some instances it is possible to detect multiple targets in the currently monitored picture of stereo vision camera 110, stand
Body vision camera 110 calculates separately each target at a distance from stereo vision camera 110 and angle, and ptz camera 120 is according to each
Target is at a distance from stereo vision camera 110 and angle obtains the acquisition parameters of the corresponding ptz camera 120 of each target respectively,
And the candid photograph sequence of multiple targets is determined according to priority, according to determining candid photograph sequence adjust separately ptz camera 120 capture it is more
The image of a target, determine parameter based on priority include orientation where target, angle, distance, running track or
It is no to leave monitoring area etc..
Quick capturing system in above-described embodiment be stereo vision camera 110 and ptz camera 120 is separately positioned, two
The corresponding operation of person's complete independently and control function.Between stereo vision camera 110 and ptz camera 120 can by wired or
Wireless connection, realizes the information exchange between two equipment.It should be noted that the calculating in stereo vision camera 110 is grasped
Make, such as detection target and calculating the distance between target and stereo vision camera 110 and angle, it can also be by ptz camera 120
It executes, those skilled in the art can make above-mentioned change to the quick capturing system in the present embodiment, and such change should
It is considered as belonging within the scope of claim and its equivalent technologies of the invention.
Fig. 2 shows a kind of possible structural schematic diagram of quick grasp shoot device provided in an embodiment of the present invention, the devices
It include: first camera 210, processor 220, memory 230, second camera 240 and at least one communication bus 250, wherein
One camera 210 can be stereo vision camera 210, and second camera 240 can be ptz camera 240.
Processor 220 can be a general central processor CPU, microprocessor, ASIC, or one or more for controlling
The integrated circuit that the present invention program program processed executes.Processor 220 can also be realized using FPGA or DSP.
Memory 230 can be volatile memory (volatile memory), such as random access memory
(random-access memory, RAM)；Or nonvolatile memory (non-volatile memory), hard disk (hard
Disk drive, HDD) or solid state hard disk (solid-state drive, SDD)；Or the combination of the memory of mentioned kind,
And instruction and data is provided to processor.
Bus 250 can be Peripheral Component Interconnect standard (Peripheral Component Interconnect, PCI)
Bus or expanding the industrial standard structure (Extended Industry Standard Architecture, EISA) bus etc..Institute
Address bus, data/address bus, control bus etc. can be divided by stating bus 850.For convenient for indicating, only with a thick line table in Fig. 2
Show, it is not intended that an only bus or a type of bus.
Stereo vision camera 210 includes two camera lenses, for obtaining current monitoring picture from two camera lenses simultaneously, currently
Monitoring picture includes the first picture and the second picture, and the first picture and the second picture are respectively two of stereo vision camera 210
The picture that camera lens is shot in synchronization.
Processor 220 detects the target in the currently monitored picture of stereo vision camera 210, and calculates target and stereoscopic vision
The distance and angle of camera 210, according to target at a distance from stereo vision camera 210 and angle calculation ptz camera 240 is corresponding
Acquisition parameters, acquisition parameters include shooting angle and lens focus.Processor 220 is obtaining needed for the candid photograph target of ptz camera 240
After the acquisition parameters wanted, generate corresponding control signal according to acquisition parameters, control ptz camera 240 adjust shooting angle and
Lens focus.
Ptz camera 240 can rotate up and down, can rotate to respective corners according to the shooting angle in acquisition parameters
Degree, the focal length of ptz camera 240 be it is variable, processor 220, which can control ptz camera 240 and adjust, lens focus and captures target
Image.Ptz camera 240 can also auto-focusing, it is automatic right to be completed according to the order for the auto-focusing that processor 220 is sent
Burnt process.
In one possible implementation, processor 220 is also used to according to target at a distance from stereo vision camera 210
Corresponding range estimation error is calculated, ptz camera 240 is calculated according to the object distance and lens focus of target and ptz camera 240 and is existed
The corresponding depth of field of the object distance, processor 220 compare the size relation of range estimation error and the depth of field, if range estimation error is less than
Equal to the depth of field, processor 220 adjusts according to acquisition parameters control ptz camera 240 and captures the image of target；If range estimation misses
Difference is greater than the depth of field, and processor 220 controls the adjustment of candid photograph camera 240 according to acquisition parameters and then control ptz camera 240 is automatic
Adjust lens focus.
In certain possible situations, if processor 220 detects multiple targets, multiple targets are determined according to priority
Candid photograph sequence, the image of multiple targets is captured according to determining candid photograph sequential control ptz camera 240, wherein determine priority institute
The parameter of foundation includes orientation where target, angle, distance, running track or whether will leave monitoring area etc..
Optionally, quick grasp shoot device 200 can also include communication interface 260, and communication interface 260 is used for the mesh that will be captured
Target image transmitting is to external device (ED).
Quick grasp shoot device 200 in above-described embodiment is by stereo vision camera 210, processor 220 and ptz camera
The device of 240 threes as a whole, as quick grasp shoot device 200 three components can it is separately positioned and pass through it is wired or
Wireless is connected to realize the communication between component, three components can also be merged and is arranged, and can also be come using an equipment
Realize the function of processor 220 and memory 230.Stereo vision camera 210 and ptz camera 240 in quick grasp shoot device 200
It is mainly used for obtaining target image, processor 220 then calculates and control operation for executing.It should be noted that according to reality
It needs, the part of processor 220 calculates or control function can be realized by stereo vision camera 210 or ptz camera 240, ability
Field technique personnel can make above-mentioned change to the quick capturing system in the present embodiment, and such change should be considered as belonging to
Within the scope of claim and its equivalent technologies of the invention.
As shown in figure 3, for first camera and the second phase in above-mentioned quick capturing system 100 and quick grasp shoot device 200
The structure of the general web camera 300 of machine.Web camera 300 includes first camera and the first phase in above-described embodiment
The shared structure of machine, in order to make it easy to understand, no longer describing the standard feature unrelated to the invention of web camera 300.Network is taken the photograph
Camera 300 includes the camera lens 310 as 300 front end component of web camera, and camera lens 310 has fixed aperture, auto iris, automatic
The types such as zoom, automatic zoom；For recording the imaging sensor 320 of incident light, such as complementary metal oxide semiconductor
(Complementary Metal Oxide Semiconductor, CMOS), charge-coupled device (Charge-coupled
Device, CCD) or identical device；Image processor 330；For executing calculating operation and controlling the processor 340 of video camera；
For storing the memory 350 of program or data；For the communication bus 360 of each component transmitting information and for passing through communication
Network transmits the communication interface 370 of information to other nodes for being connected to the network.
Imaging sensor 320 receives information related with the light recorded, and by A/D converter and signal processor
331 pairs of information are handled, and wherein A/D converter and signal processor 331 are well known to technical staff.In some embodiments
In, such as when imaging sensor 320 is cmos sensor, imaging sensor 320 includes A/D converter, therefore image procossing
Any A/D converter is not needed in device 330.By A/D converter and signal processor 331 generate the result is that digital picture number
According to according to one embodiment, which is compiled before being sent to processor 340 in unit for scaling 332 and image
It is processed in code device 333.Unit for scaling 332 is used to handling the digital image data into the image at least one particular size.
However, unit for scaling 332 can be arranged to generate the image of multiple and different sizes, all images are indicated by A/D converter
Same image/the frame provided with signal processor 331.According to another embodiment, the function of unit for scaling 332 is by image encoder
333 execute, and in another embodiment, do not need to execute any scaling or big ditty to the image from imaging sensor 320
It is whole.
Encoder 333 for execute for the present invention be it is optional, be arranged to for continuous video sequence, for having
The video sequence of limit, for still image or for image/video stream by the digital image data coding be a variety of known formats
In any one.For example, image information can be encoded to MPEG1, MPEG2, MPEG4, JEPG, MJPG, bit map
Deng.Un-encoded image can be used as input data in processor 340.In this case, image data is from signal
Reason device 331 is transferred to processor 340 from unit for scaling 332, without transmitting the image data by image encoder 333.Not
Encoded image can use any un-encoded picture format, such as BMP, PNG, PPM, PGM, PNM and PBM, although
The data by coding also can be used as input data in processor 340.
In one embodiment of the invention, image data can be sent directly to processor from signal processor 331
340, without passing through unit for scaling 332 or image encoder 333.It, can be single from scaling by image data in another embodiment
Member 332 is sent to processor 340, without passing through image encoder 333.
Processor 340 can be a general central processor (central processing unit, CPU), micro process
Device, application-specific integrated circuit (application-specific integrated circuit, ASIC) or one or more
A integrated circuit executed for controlling the present invention program program.Processor 340 can also use field programmable gate array
(Field Programmable Gate Array, FPGA) or DSP are realized.Using the Software Coding compression based on DSP
When, the partial function in image processor 330 can also be integrated on processor 340.Processor 340 is for managing and controlling
Web camera 300.
Memory 350 is used to store the application code for executing the present invention program, can be read-only memory (read-
Only memory, ROM) or can store the other kinds of static storage device of static information and instruction, random access memory
(random access memory, RAM) or the other kinds of dynamic memory that can store information and instruction, can also be with
Be Electrically Erasable Programmable Read-Only Memory (electrically erasable programmable read-only memory,
EEPROM), CD-ROM (compact disc read-only memory, CD-ROM) or other optical disc storages, optical disc storage
(including compression optical disc, laser disc, optical disc, Digital Versatile Disc, Blu-ray Disc etc.), magnetic disk storage medium or other magnetic storages
Equipment or can be used in carry or store have instruction or data structure form desired program code and can be by calculating
Any other medium of machine access, but not limited to this.Memory 350, which can be, to be individually present, and bus 360 and processor are passed through
340 are connected.Memory 350 can also be integrated with processor 340.
Communication bus 360 may include an access, transmit information between each component.
Communication interface 370 using any transceiver one kind device, be used for other equipment or communication, such as with
Too net, wireless access network (radio access network, RAN), WLAN (wireless local area
Networks, WLAN) etc..
Stereo vision camera in above-described embodiment is provided with a plurality of lenses on the basis of all-purpose camera 300, with reality
The picture of current detection is now obtained from a plurality of lenses；Ptz camera in above-described embodiment is set on the basis of all-purpose camera 300
Holder has been set, to realize that comprehensive (left and right/upper and lower) is mobile, has adjusted the shooting angle of ptz camera.
Below with reference to attached drawing, quick capturing system provided in an embodiment of the present invention and method are described further.
As shown in figure 4, the method quickly captured for one kind provided in an embodiment of the present invention, this method when capturing target,
It assists to capture camera focusing using stereo vision camera, solves the problems, such as that focusing time is too long in existing candid photograph technology.This hair
The quick grasp shoot method that bright embodiment provides can be applied to the quick capturing system 100 in Fig. 1 and the quick candid photograph dress in Fig. 2
It sets on 200, for the candid photograph to the target fast moved in large scene, illustrates that the embodiment of the present invention is mentioned below with reference to Fig. 1
The specific implementation of the method for confession.Quick grasp shoot method provided in an embodiment of the present invention the following steps are included:
410, the target in first camera current picture is detected, calculates target at a distance from first camera and angle.
Wherein, first camera can be stereo vision camera 110, and the current picture of monitoring includes the first picture and second
Picture, first picture and second picture are respectively the first camera lens and the second camera lens of the stereo vision camera 110
In the picture of synchronization shooting.It can detecte the target in frame out, and the visual difference according to target in different pictures,
Target is calculated at a distance from stereo vision camera 210 and angle.
420, according to target at a distance from first camera and the acquisition parameters of angle calculation second camera.
In quick capturing system, second camera is ptz camera 110.Obtaining target and stereo vision camera 110
After distance and angle, target and ptz camera can be obtained according to the positional relationship of stereo vision camera 110 and ptz camera 120
120 object distance and angle, and then obtain the acquisition parameters that ptz camera 120 captures target, wherein acquisition parameters include shooting angle
Degree and lens focus.
430, target is captured again according to the shooting angle and lens focus of acquisition parameters adjustment second camera.
Shooting angle and lens focus are that ptz camera 120 captures most important two parameters of target, are obtained according to above-mentioned steps
To the shooting angle and lens focus of ptz camera 120, the cloud platform rotation of ptz camera 120 can control to corresponding angle, and
The lens zoom for controlling ptz camera 120, is adjusted to corresponding value for lens focus, then capture target.
By above step, realizes ptz camera 120 and do not need auto-focusing and complete the candid photograph to target, avoid
Prolonged auto-focusing process, improves candid photograph efficiency, keeps candid photograph more timely, image is relatively sharp.
With reference to the accompanying drawing, the concrete methods of realizing of above step is further illustrated.
As shown in figure 5, for the side the embodiment of the invention provides a kind of calculating target at a distance from stereo vision camera 110
Method.Wherein Ol, Or are respectively the target surface center of the left and right camera of stereo vision camera 110, and target point P is respectively in left and right phase
The target surface of machine is imaged onto Pl, Pr point, and center of the optical path from target point through lens plane is to target surface imaging point, according to similar triangles
Principle, available:
(B+ (xl-xr))/D=B/ (Z-f)
It is obtained after simplification:
D=(f × (B+xl-xr))/(xl-xr)
Wherein, B is parallax range, i.e. the distance between left and right camera；F is stereo vision camera focal length；Xl is that target exists
The horizontal distance of left side imaging point and left camera central point；Xr is target in right camera imaging point and right camera central point
Horizontal distance；D is target at a distance from stereo vision camera.
Target and the angular relationship of left camera, the angular relationship of target and right camera and target and stereoscopic vision phase
The angle of machine center line can then calculate on the basis of target range calculates according to trigonometric function calculation formula.
But the distance that stereoscopic rangefinding technology measures be not it is absolutely accurate, the distance measured have certain error, should
Error is range estimation error, the lens parameters of error range and stereo vision camera, the pixel size of photoreceptor and two
The spacing of camera lens is related.Range estimation error increases with the increase of target range, square proportional with distance.
ThomasLuhmann is provided in " Close-Range Photogrammetry and 3D Imaging " (2014) one books
A kind of calculation method of range estimation error.Further, it is also possible to by repeatedly measuring, range estimation error and distance are obtained
Coefficient between square, and then the relationship of the distance of the target measured and range estimation error.
There are many calculation methods that target range is measured using stereoscopic rangefinding technology, and above-mentioned calculation method is only the present invention one
A kind of calculation method that a embodiment uses does not play restriction effect to protection scope of the present invention, no matter using which kind of tool
The distance calculating method of body exists as long as being able to achieve the function of the distance and angle that measure target by stereoscopic rangefinding technology
Within the scope of the present invention.
Target is being obtained at a distance from stereo vision camera 110 and angle, step 420 can be obtained in several ways
In target and the object distance of ptz camera 120 and the acquisition parameters of ptz camera 120.
In one implementation, target and PTZ directly can be set at a distance from target by stereo vision camera 110
The object distance of camera 120 sets the angle of stereo vision camera 110 and target to the shooting angle of ptz camera 120, according to mesh
The object distance of mark and ptz camera 120 obtains the shooting focal length of ptz camera 120.Due to the quick capturing system in the embodiment of the present invention
100 commonly used to shoot longer-distance target, and the distance between target and quick capturing system 100 are much larger than stereoscopic vision phase
The distance between 110 camera lens of machine and 120 camera lens of ptz camera, in the case where not high to shooting required precision, it is believed that target
With at a distance from stereo vision camera 110 and angle is equal with the object distance of ptz camera 120 and angle with target.In addition, stereoscopic vision
Camera 110 generally comprises two camera lenses, when establishing coordinate system usually using the center of two camera lenses as origin, if PTZ
Camera 120 is located at the center of 110 two camera lenses of stereo vision camera, then 110 coordinate system of stereo vision camera and ptz camera
120 coordinate systems are overlapped, at this time target with stereo vision camera 110 at a distance from and angle with target and ptz camera 120 object distance and
Angle is equal.
In another implementation, it needs to consider the spatial position between stereo vision camera 110 and ptz camera 120
Difference, according to spatial position difference and target with stereo vision camera 110 at a distance from and angle calculation target and ptz camera 120
Object distance and angle, and the angle is set to the shooting angle of ptz camera 120, further according to the object of target and ptz camera 120
Away from obtaining the shooting focal length of ptz camera 120.
For stereo vision camera 110 and ptz camera 120 there are spatial position difference, can be converted by three-dimensional coordinate
Obtain coordinate of the target in ptz camera 120.
As shown in fig. 6, being that coordinate turns between a kind of realization stereo vision camera and ptz camera provided in an embodiment of the present invention
The mode changed, wherein coordinate O is the coordinate origin of ptz camera coordinate system, and coordinate O' is the coordinate of stereo vision camera coordinate system
Origin, the relationship of each point is shown below in the two coordinate systems:
Wherein, λ is the dimension scale factor between two coordinate systems, and Δ X, Δ Y and Δ Z are that ptz camera coordinate system coordinate is former
Point stereo vision camera coordinate system coordinate origin between alternate position spike, R be coordinate convert when spin matrix, for realizing will
Each reference axis of the coordinate system of stereo vision camera rotates to the corresponding reference axis of coordinate system of ptz camera.
R=R (εY)R(εYX)R(εYZ)
Expansion are as follows:
By coordinate of the available target of above formula in 120 coordinate system of ptz camera, so obtain target object distance and with
The angle of ptz camera 120.
After obtaining the object distance of target and ptz camera 120, the camera lens that ptz camera 120 can be obtained there are many mode is burnt
Away from.Specifically, as a kind of implementation, mesh can be calculated by the way that the table of comparisons of object distance and lens focus is stored in advance
Subject matter is away from later, and the inquiry table of comparisons is to obtain the shooting focal length of ptz camera 120.
Further, the distance between target and stereo vision camera 110 and angle can be stored in advance with ptz camera
The table of comparisons of 120 acquisition parameters above-mentioned is deposited in advance according to the distance between target and stereo vision camera 110 and angle inquiry
The table of comparisons of storage obtains corresponding acquisition parameters.
Optionally, scape of the ptz camera 120 at target can also be calculated before adjustment ptz camera 120 in step 430
It is deep, and compare the size relation of the depth of field and range estimation error to determine how to adjust ptz camera 120.
Fig. 7 is a kind of method schematic diagram for calculating depth of field that the embodiment of the present invention proposes.
Wherein: δ is to allow disperse circular diameter, and f is lens focus, and F is the shooting f-number of camera lens, and L is focus lens, Δ
L1 is the preceding depth of field, and Δ L2 is the rear depth of field, and Δ L is the depth of field, the calculation formula of the depth of field are as follows:
Under certain application scenarios, the aperture F and disperse circular diameter δ of camera are determining value, from formula as can be seen that
Object distance it is small to after certain value, the depth of field will be infinitely great, and the depth of field reduces as object distance increases.
The range estimation error for comparing the depth of field and target of the ptz camera 120 at target, if the depth of field is estimated more than or equal to distance
Calculate error, then the depth of field is capable of the range estimation error range of coverage goal at this time, even if apart from calculating, there are certain errors, but
In field depth, clearly image can be taken, directly can adjust ptz camera 120 according to aforementioned acquisition parameters and is grabbed
Clap target；If the depth of field is less than range estimation error, at this time the depth of field can not whole coverage goals range estimation error range, very
Possibly target clearly image can not be taken, therefore, according to aforementioned acquisition parameters adjustment ptz camera 120 after also need into
Row auxiliary auto-focusing captures target again.
In the concrete realization, as one embodiment, if being detected in the monitoring picture of stereo vision camera 110 multiple
Target calculates separately each target at a distance from stereo vision camera 110 and angle, and according to each target and stereoscopic vision phase
The distance and angle of machine 110 obtain the acquisition parameters of the corresponding ptz camera 120 of each target respectively, more according to priority determination
The candid photograph sequence of a target adjusts separately the image that ptz camera 120 captures multiple targets according to determining candid photograph sequence, determines
Parameter based on priority includes orientation where target, angle, distance, running track or whether will leave monitoring area
Deng.It is above-mentioned to be enumerated as exhaustive formula, it can also include other parameters.It should be clear that above-mentioned parameter be all not it is necessary,
Considerations of several parameters as priority can be chosen according to practical application scene.
Above method embodiment is illustrated in conjunction with the quick capturing system 100 in Fig. 1, the quick candid photograph dress in Fig. 2
It sets and realizes that the specific steps of above method embodiment are similar with above-mentioned record in 200, it should be apparent to those skilled in the art that geographical
Solution, details are not described herein.
The embodiment of the present invention also provides a kind of computer readable storage medium, for being stored as above-mentioned quick grasp shoot device
And/or computer software instructions used in system, it includes for executing program code designed by above method embodiment.It is logical
The program code for executing storage is crossed, the distance and angle by stereovision technique rapid survey target may be implemented, and then obtain
The acquisition parameters that image must be captured quickly adjust ptz camera, complete the candid photograph to target, can shorten and capture the time, guarantee to grab
The real-time of bat.
The embodiment of the invention also provides computer program products.The computer program product includes that computer software refers to
It enables, which can be loaded to realize the method in above method embodiment by processor.
Although combining each embodiment herein, invention has been described, however, implementing the claimed invention
In the process, those skilled in the art are by checking the attached drawing, disclosure and the appended claims, it will be appreciated that and it is real
Other variations of the existing open embodiment.In the claims, " comprising " (comprising) word is not excluded for other compositions
Part or step, "a" or "an" are not excluded for multiple situations.Claim may be implemented in single processor or other units
In several functions enumerating.Mutually different has been recited in mutually different dependent certain measures, it is not intended that these are arranged
It applies to combine and generates good effect.
It will be understood by those skilled in the art that embodiments herein can provide as method, apparatus (system) or computer journey
Sequence product.Therefore, complete hardware embodiment, complete software embodiment or combining software and hardware aspects can be used in the application
They are all referred to as " module " or " system " by the form of embodiment here.Moreover, the application can be used it is one or more its
In include computer usable program code computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM,
Optical memory etc.) on the form of computer program product implemented.Computer program is stored/distributed in suitable medium,
There is provided together with other hardware or as hardware a part, can also use other distribution forms, such as by Internet or
Other wired or wireless telecommunication systems.
The application be referring to the embodiment of the present invention method, apparatus (equipment) and computer program product flow chart with/
Or block diagram describes.It should be understood that each process that can be realized by computer program instructions in flowchart and/or the block diagram and/
Or the combination of the process and/or box in box and flowchart and/or the block diagram.It can provide these computer program instructions
To general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices processor to generate one
A machine so that by the instruction that the processor of computer or other programmable data processing devices executes generate for realizing
The device for the function of being specified in one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although in conjunction with specific features and embodiment, invention has been described, it is clear that, do not departing from this hair
In the case where bright spirit and scope, it can be carry out various modifications and is combined.Correspondingly, the specification and drawings are only institute
The exemplary illustration of the invention that attached claim is defined, and be considered as covered in the scope of the invention any and all and repair
Change, change, combining or equivalent.Obviously, those skilled in the art various changes and modifications can be made to the invention without
It is detached from the spirit and scope of the present invention.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its
Within the scope of equivalent technologies, then the present invention is also intended to include these modifications and variations.
Claims (14)
1. the method that one kind is quickly captured, which is characterized in that the described method includes:
The target in first camera current picture is detected, the distance between the target and the first camera and angle are calculated；
According to the acquisition parameters of the distance and angle calculation second camera, the acquisition parameters include lens focus and shooting angle
Degree；
The second camera, which is adjusted, according to the acquisition parameters captures the target.
2. the method according to claim 1, wherein the first camera be stereo vision camera, described second
Camera is PTZ (Pan/Tilt/Zoom) camera.
3. according to the method described in claim 2, it is characterized in that, described according to the distance and PTZ phase described in angle calculation
The acquisition parameters of machine include:
Set the distance to the object distance of the target Yu the ptz camera；
Set the angle to the shooting angle of the ptz camera；
The lens focus of the ptz camera is obtained according to the object distance.
4. according to the method described in claim 3, it is characterized in that, burnt according to the camera lens that the object distance obtains the ptz camera
Away from, comprising:
Obtain the table of comparisons of the lens focus of object distance and ptz camera；
The table of comparisons, which is inquired, according to the object distance obtains the lens focus of the corresponding ptz camera of the object distance.
5. the method according to claim 2 to 4, it is characterised in that:
According to the acquisition parameters of the distance and ptz camera described in angle calculation, further includes: according to the distance calculate it is described away from
The ptz camera is calculated in the corresponding depth of field of the object distance from corresponding range estimation error, and according to the object distance；
It further include the size of range estimation error and the depth of field described in comparison before the adjustment ptz camera；
If the range estimation error is less than or equal to the depth of field, grabbed after adjusting the ptz camera according to the acquisition parameters
Clap the target；
It is automatic to adjust after adjusting the ptz camera according to the lens parameters if the range estimation error is greater than the depth of field
Whole lens focus simultaneously captures the target.
6. according to claim 1 to method described in 5, which is characterized in that if in the current picture of the stereo vision camera
It detects multiple targets, further includes later according to the distance and the lens parameters of ptz camera described in angle calculation, according to preferential
Grade determines the candid photograph sequence of the multiple target, captures the target respectively according to determining candid photograph sequence；
It is described to determine that parameter based on the candid photograph sequence of the multiple target includes orientation, the angle where target according to priority
Whether degree, distance, running track will leave monitoring area.
7. a kind of quick capturing system characterized by comprising
First camera, for obtaining current monitoring picture, target in detection monitoring picture calculates the target and described the
The distance and angle of one camera, and the distance and angle are sent to second camera；
Second camera, the distance and angle sent for receiving the first camera, according to the distance and angle calculation
The acquisition parameters of the second camera adjust the second camera according to the acquisition parameters and capture the target, wherein is described
Acquisition parameters include lens focus and shooting angle.
8. system according to claim 7, which is characterized in that the first camera be stereo vision camera, described second
Camera is PTZ (Pan/Tilt/Zoom) camera.
9. quick capturing system according to claim 8, it is characterised in that:
The stereo vision camera be also used to be calculated according to the distance it is described apart from corresponding range estimation error, and will be described
Range estimation error is sent to the ptz camera；
The ptz camera is also used to receive the range estimation error that the stereo vision camera is sent, and according to the mesh
Mark and the object distance of the ptz camera calculating ptz camera are in the corresponding depth of field of the object distance；
The size of ptz camera the range estimation error and the depth of field:
If the range estimation error is less than or equal to the depth of field, the ptz camera adjusts shooting angle according to the acquisition parameters
Degree and lens focus simultaneously capture the target；
If the range estimation error be greater than the depth of field, the ptz camera according to the lens parameters adjustment shooting angle with
Lens focus and then adjust automatically lens focus simultaneously capture the target.
10. quick capturing system according to claim 8 or claim 9, it is characterised in that:
If the stereo vision camera detects multiple targets, each target is calculated with the stereo vision camera away from walk-off angle
Degree；
The ptz camera is also used to calculate the corresponding acquisition parameters of the multiple target, and is determined according to priority the multiple
The candid photograph sequence of target adjusts the second camera according to determining candid photograph sequence and captures the multiple target；
It is described to determine that parameter based on the candid photograph sequence of the multiple target includes orientation, the angle where target according to priority
Whether degree, distance, running track will leave monitoring area.
11. a kind of quick grasp shoot device, which is characterized in that including first camera, processor and second camera, in which:
First camera, including two camera lenses, for obtaining current monitoring picture from described two camera lenses simultaneously；
Processor, for detecting the target in the first camera current picture, calculate the target and the first camera it
Between distance and angle, according to the acquisition parameters of the distance and angle calculation second camera, and control the second camera and grab
Clap the target, wherein the acquisition parameters include shooting angle and lens focus；
Second camera, for capturing the target.
12. quick grasp shoot device according to claim 11, which is characterized in that the first camera is stereoscopic vision phase
Machine, the second camera are PTZ (Pan/Tilt/Zoom) camera.
13. quick grasp shoot device according to claim 12, it is characterised in that:
The processor is also used to calculate corresponding range estimation error according to the distance, according to the target and the PTZ
The object distance of camera calculates the ptz camera and goes out the corresponding depth of field in the object distance；
The size relation of processor the range estimation error and the depth of field；
If the range estimation error is less than or equal to the depth of field, the processor adjusts the PTZ according to the acquisition parameters
Camera simultaneously captures the target；
If the range estimation error is greater than the depth of field, the processor adjusts the ptz camera according to the acquisition parameters
Later, it also controls the focal length of the ptz camera adjust automatically camera lens and captures the target.
14. quick grasp shoot device according to claim 12 or 13, it is characterised in that:
If the processor detects multiple targets, each target is calculated at a distance from the stereo vision camera and angle,
And the corresponding acquisition parameters of the multiple target；
The processor determines the candid photograph sequence of the multiple target according to priority, according to determining candid photograph sequential control
Ptz camera is adjusted according to the acquisition parameters of the multiple target, and captures the image of the multiple target；
It is described to determine that parameter based on the candid photograph sequence of the multiple target includes orientation, the angle where target according to priority
Whether degree, distance, running track will leave monitoring area.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711322098.2A CN109922251B (en) | 2017-12-12 | 2017-12-12 | Method, device and system for quick snapshot |
| PCT/CN2018/119698 WO2019114617A1 (en) | 2017-12-12 | 2018-12-07 | Method, device, and system for fast capturing of still frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711322098.2A CN109922251B (en) | 2017-12-12 | 2017-12-12 | Method, device and system for quick snapshot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109922251A true CN109922251A (en) | 2019-06-21 |
| CN109922251B CN109922251B (en) | 2021-10-22 |
Family
ID=66818967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711322098.2A Active CN109922251B (en) | 2017-12-12 | 2017-12-12 | Method, device and system for quick snapshot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109922251B (en) |
| WO (1) | WO2019114617A1 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110278382A (en) * | 2019-07-22 | 2019-09-24 | 浙江大华技术股份有限公司 | A kind of focus method, device, electronic equipment and storage medium |
| CN111147840A (en) * | 2019-12-23 | 2020-05-12 | 南京工业职业技术学院 | Automatic control and communication system for video and audio acquisition of 3D camera rocker arm |
| CN111158107A (en) * | 2020-01-03 | 2020-05-15 | 支付宝(杭州)信息技术有限公司 | Focusing method, device and equipment of lens module |
| CN111314602A (en) * | 2020-02-17 | 2020-06-19 | 浙江大华技术股份有限公司 | Target object focusing method, target object focusing device, storage medium and electronic device |
| CN111405193A (en) * | 2020-04-30 | 2020-07-10 | 重庆紫光华山智安科技有限公司 | Focusing method and device and camera equipment |
| CN111595292A (en) * | 2020-04-29 | 2020-08-28 | 杭州电子科技大学 | Binocular vision distance measurement method based on unequal focal lengths |
| CN112084925A (en) * | 2020-09-03 | 2020-12-15 | 厦门利德集团有限公司 | Intelligent electric power safety monitoring method and system |
| CN113038070A (en) * | 2019-12-25 | 2021-06-25 | 浙江宇视科技有限公司 | Equipment focusing method and device and cloud platform |
| CN113099163A (en) * | 2019-12-23 | 2021-07-09 | 中移物联网有限公司 | Monitoring adjusting method, monitoring system, electronic device and readable storage medium |
| CN113422901A (en) * | 2021-05-29 | 2021-09-21 | 华为技术有限公司 | Camera focusing method and related equipment |
| WO2021184341A1 (en) * | 2020-03-20 | 2021-09-23 | SZ DJI Technology Co., Ltd. | Autofocus method and camera system thereof |
| CN113569813A (en) * | 2021-09-05 | 2021-10-29 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Intelligent image recognition system and method based on server side |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110599739A (en) * | 2019-10-11 | 2019-12-20 | 宁夏广天夏电子科技有限公司 | Personnel safety detection system based on three-dimensional image and intelligent video technology |
| CN111144478B (en) * | 2019-12-25 | 2022-06-14 | 电子科技大学 | Automatic detection method for through lens |
| CN111652802B (en) * | 2020-05-19 | 2024-03-05 | 杭州海康威视数字技术股份有限公司 | Panorama making method, interaction method and device based on panorama |
| CN111986248B (en) * | 2020-08-18 | 2024-02-09 | 东软睿驰汽车技术（沈阳）有限公司 | Multi-vision sensing method and device and automatic driving automobile |
| CN112581547B (en) * | 2020-12-30 | 2022-11-08 | 安徽地势坤光电科技有限公司 | Rapid method for adjusting installation angle of imaging lens |
| CN113452903B (en) * | 2021-06-17 | 2023-07-11 | 浙江大华技术股份有限公司 | Snapshot equipment, snap method and main control chip |
| CN113888651A (en) * | 2021-10-21 | 2022-01-04 | 天津市计量监督检测科学研究院电子仪表实验所 | Dynamic and static vision detection system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070036427A1 (en) * | 2005-08-15 | 2007-02-15 | Makibi Nakamura | Depth information for auto focus using two pictures and two-dimensional gaussian scale space theory |
| US20070064107A1 (en) * | 2005-09-20 | 2007-03-22 | Manoj Aggarwal | Method and apparatus for performing coordinated multi-PTZ camera tracking |
| CN101068342A (en) * | 2007-06-05 | 2007-11-07 | 西安理工大学 | Video frequency motion target close-up trace monitoring method based on double-camera head linkage structure |
| CN101924923A (en) * | 2010-08-03 | 2010-12-22 | 杭州翰平电子技术有限公司 | Embedded intelligent automatic zooming snapping system and method thereof |
| CN102867304A (en) * | 2012-09-04 | 2013-01-09 | 南京航空航天大学 | Method for establishing relation between scene stereoscopic depth and vision difference in binocular stereoscopic vision system |
| CN103209298A (en) * | 2012-01-13 | 2013-07-17 | 索尼公司 | Blur-matching Model Fitting For Camera Automatic Focusing Adaptability |
| CN105407283A (en) * | 2015-11-20 | 2016-03-16 | 成都因纳伟盛科技股份有限公司 | Multi-target active recognition tracking and monitoring method |
| CN106251334A (en) * | 2016-07-18 | 2016-12-21 | 华为技术有限公司 | A kind of camera parameters method of adjustment, instructor in broadcasting's video camera and system |
| WO2017099541A1 (en) * | 2015-12-09 | 2017-06-15 | 공간정보기술 주식회사 | Subject spatial movement tracking system using multiple stereo cameras |
| WO2017199556A1 (en) * | 2016-05-17 | 2017-11-23 | 富士フイルム株式会社 | Stereo camera and stereo camera control method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| MY158543A (en) * | 2009-09-08 | 2016-10-14 | Mimos Berhad | Control mechanism for automated surveillance system |
| CN104363376A (en) * | 2014-11-28 | 2015-02-18 | 广东欧珀移动通信有限公司 | Continuous focusing method, device and terminal |
-
2017
- 2017-12-12 CN CN201711322098.2A patent/CN109922251B/en active Active
-
2018
- 2018-12-07 WO PCT/CN2018/119698 patent/WO2019114617A1/en active Application Filing
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070036427A1 (en) * | 2005-08-15 | 2007-02-15 | Makibi Nakamura | Depth information for auto focus using two pictures and two-dimensional gaussian scale space theory |
| US20070064107A1 (en) * | 2005-09-20 | 2007-03-22 | Manoj Aggarwal | Method and apparatus for performing coordinated multi-PTZ camera tracking |
| CN101068342A (en) * | 2007-06-05 | 2007-11-07 | 西安理工大学 | Video frequency motion target close-up trace monitoring method based on double-camera head linkage structure |
| CN101924923A (en) * | 2010-08-03 | 2010-12-22 | 杭州翰平电子技术有限公司 | Embedded intelligent automatic zooming snapping system and method thereof |
| CN103209298A (en) * | 2012-01-13 | 2013-07-17 | 索尼公司 | Blur-matching Model Fitting For Camera Automatic Focusing Adaptability |
| CN102867304A (en) * | 2012-09-04 | 2013-01-09 | 南京航空航天大学 | Method for establishing relation between scene stereoscopic depth and vision difference in binocular stereoscopic vision system |
| CN105407283A (en) * | 2015-11-20 | 2016-03-16 | 成都因纳伟盛科技股份有限公司 | Multi-target active recognition tracking and monitoring method |
| WO2017099541A1 (en) * | 2015-12-09 | 2017-06-15 | 공간정보기술 주식회사 | Subject spatial movement tracking system using multiple stereo cameras |
| WO2017199556A1 (en) * | 2016-05-17 | 2017-11-23 | 富士フイルム株式会社 | Stereo camera and stereo camera control method |
| CN106251334A (en) * | 2016-07-18 | 2016-12-21 | 华为技术有限公司 | A kind of camera parameters method of adjustment, instructor in broadcasting's video camera and system |
Non-Patent Citations (1)
| Title |
|---|
| 王志远等: "基于双目视觉的移动机器人测距与定位***", 《兵器装备工程学报》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110278382A (en) * | 2019-07-22 | 2019-09-24 | 浙江大华技术股份有限公司 | A kind of focus method, device, electronic equipment and storage medium |
| CN113099163A (en) * | 2019-12-23 | 2021-07-09 | 中移物联网有限公司 | Monitoring adjusting method, monitoring system, electronic device and readable storage medium |
| CN111147840A (en) * | 2019-12-23 | 2020-05-12 | 南京工业职业技术学院 | Automatic control and communication system for video and audio acquisition of 3D camera rocker arm |
| CN113099163B (en) * | 2019-12-23 | 2023-04-11 | 中移物联网有限公司 | Monitoring adjusting method, monitoring system, electronic device and readable storage medium |
| CN113038070A (en) * | 2019-12-25 | 2021-06-25 | 浙江宇视科技有限公司 | Equipment focusing method and device and cloud platform |
| CN111158107A (en) * | 2020-01-03 | 2020-05-15 | 支付宝(杭州)信息技术有限公司 | Focusing method, device and equipment of lens module |
| CN111158107B (en) * | 2020-01-03 | 2021-07-06 | 支付宝(杭州)信息技术有限公司 | Focusing method, device and equipment of lens module |
| CN111314602A (en) * | 2020-02-17 | 2020-06-19 | 浙江大华技术股份有限公司 | Target object focusing method, target object focusing device, storage medium and electronic device |
| CN111314602B (en) * | 2020-02-17 | 2021-09-17 | 浙江大华技术股份有限公司 | Target object focusing method, target object focusing device, storage medium and electronic device |
| WO2021184341A1 (en) * | 2020-03-20 | 2021-09-23 | SZ DJI Technology Co., Ltd. | Autofocus method and camera system thereof |
| CN115299031A (en) * | 2020-03-20 | 2022-11-04 | 深圳市大疆创新科技有限公司 | Automatic focusing method and camera system thereof |
| CN111595292A (en) * | 2020-04-29 | 2020-08-28 | 杭州电子科技大学 | Binocular vision distance measurement method based on unequal focal lengths |
| CN111405193A (en) * | 2020-04-30 | 2020-07-10 | 重庆紫光华山智安科技有限公司 | Focusing method and device and camera equipment |
| CN112084925A (en) * | 2020-09-03 | 2020-12-15 | 厦门利德集团有限公司 | Intelligent electric power safety monitoring method and system |
| CN113422901A (en) * | 2021-05-29 | 2021-09-21 | 华为技术有限公司 | Camera focusing method and related equipment |
| CN113422901B (en) * | 2021-05-29 | 2023-03-03 | 华为技术有限公司 | Camera focusing method and related equipment |
| CN113569813A (en) * | 2021-09-05 | 2021-10-29 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Intelligent image recognition system and method based on server side |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019114617A1 (en) | 2019-06-20 |
| CN109922251B (en) | 2021-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109922251A (en) | The method, apparatus and system quickly captured | |
| CN107087107B (en) | Image processing apparatus and method based on dual camera | |
| US10116922B2 (en) | Method and system for automatic 3-D image creation | |
| EP3248374B1 (en) | Method and apparatus for multiple technology depth map acquisition and fusion | |
| WO2016049889A1 (en) | Autofocus method, device and electronic apparatus | |
| US20150181107A1 (en) | Autofocus adjusting method and apparatus | |
| WO2011125937A1 (en) | Calibration data selection device, method of selection, selection program, and three dimensional position measuring device | |
| CN102196166A (en) | Imaging device and display method | |
| US20170292827A1 (en) | Coordinate measuring system | |
| CN110602376B (en) | Snapshot method and device and camera | |
| JP2024052755A (en) | Three-dimensional displacement measuring method and three-dimensional displacement measuring device | |
| JP5454392B2 (en) | Ranging device and imaging device | |
| JP6305232B2 (en) | Information processing apparatus, imaging apparatus, imaging system, information processing method, and program. | |
| JP5925109B2 (en) | Image processing apparatus, control method thereof, and control program | |
| WO2019031244A1 (en) | Information processing device, imaging system, method for controlling imaging system, and program | |
| US20130076868A1 (en) | Stereoscopic imaging apparatus, face detection apparatus and methods of controlling operation of same | |
| KR102298047B1 (en) | Method of recording digital contents and generating 3D images and apparatus using the same | |
| JPH11223516A (en) | Three dimensional image pickup device | |
| JP7324639B2 (en) | Subject position estimation device, focus assist device, and programs thereof | |
| JP2009237652A (en) | Image processing apparatus and method, and program | |
| JP2011153919A (en) | Three dimensional analyzer of flying object and computer program | |
| Eslami et al. | A stereo PTZ tracking and surveillance system with two dynamic cameras operating in a master-slave relationship | |
| JP2020108139A (en) | Information processing apparatus and method, information processing system, and program | |
| JP2019062279A (en) | Imaging device, imaging system, and control method of imaging system | |
| JP2011118854A (en) | Device for generating model for three-dimensional computer graphics |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |