CN110351520B - Moving body image tracking and acquiring method and system - Google Patents
Moving body image tracking and acquiring method and system Download PDFInfo
- Publication number
- CN110351520B CN110351520B CN201910625073.2A CN201910625073A CN110351520B CN 110351520 B CN110351520 B CN 110351520B CN 201910625073 A CN201910625073 A CN 201910625073A CN 110351520 B CN110351520 B CN 110351520B
- Authority
- CN
- China
- Prior art keywords
- center
- range
- moving body
- video
- image
- 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.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention relates to a method and a system for tracking and acquiring a moving body image, belonging to the technical field of video acquisition. When the moving body is positioned outside the first image acquisition range and just enters a second image acquisition range with the moving body, the first image acquisition range can be moved to the moving body by calculating a first displacement angle from the first image acquisition range to the second image acquisition range; when the moving body moves in the second image acquisition range, the third displacement angle of the first image acquisition range is obtained through conversion by calculating the second displacement angle of the movement of the second image acquisition range, so that the first image acquisition range moves along with the movement of the moving body, and the video acquisition of the moving body is always kept.
Description
Technical Field
The invention relates to the technical field of video acquisition, in particular to a method and a system for tracking and acquiring images of a moving body.
Background
The automatic tracking camera is an integrated camera integrating and expanding functions of a lens, a tripod head, a common camera and the like, can automatically identify image information, can be moved to capture images when the images are moved, can identify the movement of an object in a monitoring range, automatically controls the tripod to track a moving object, and clearly transmits all actions of the object to a monitor.
In the prior art, once a moving object enters a shooting picture, an automatic tracking camera can move according to the movement of the moving object, so that the state of the moving object can be captured at any time. However, when the moving object does not enter the shooting screen, the auto-tracking camera cannot focus on the moving object. This is caused by the fact that the angle of view of the tracking camera is small and the moving body is located outside the angle of view of the tracking camera. If the wide-angle lens is directly adopted, the number and the group number of lenses of the wide-angle lens are large, the low-end wide-angle image quality is more lost, the structure of the zooming wide-angle lens is more complex, and the image quality attenuation of the zooming wide-angle lens is more serious than that of the fixed-focus wide-angle lens, although the difficulties can be overcome technically, the cost is obviously increased by a lot.
Disclosure of Invention
The present invention provides a method for tracking and acquiring an image of a moving object, which has the advantage that when the moving object is located outside a shooting angle, the shooting angle can be moved to align with the moving object.
The above object of the present invention is achieved by the following technical solutions:
a moving body image tracking acquisition method, the method comprising the steps of:
synchronously acquiring a first video in a first image acquisition range and a second video in a second image acquisition range, wherein a first visual angle of the first image acquisition range is smaller than a second visual angle of the second image acquisition range, the first visual angle is positioned in the second visual angle, the first visual angle can move in the second visual angle, and a central range of a certain area range is set by taking the center of the first image acquisition range as the center;
setting a left boundary positioned on the left side in the second image acquisition range and a right boundary positioned on the right side in the second image acquisition range, wherein a boundary range is formed between the left boundary and the right boundary;
judging whether a moving body exists in the boundary range, if so, moving the first image acquisition range until the center of the moving body is positioned in the central range; if not, keeping collecting the first video;
in the process of collecting the second video, extracting two frames of images at the front end and the rear end of a preset time length in the second video every time when the preset time length passes, and setting the two frames of images as a front image and a rear image;
and judging whether a first displacement angle between the center of the moving body in the rear image and the center of the moving body in the front image exceeds a displacement angle threshold value, if so, moving the first image acquisition range until the center of the moving body is positioned in the center range, and if not, keeping acquiring the first video.
Further, the center determination method of the moving body is as follows: and determining a rectangular frame of the periphery of the moving body, and taking the geometric center of the rectangular frame as the center of the moving body.
Further, the central range is a range within a circular frame or a rectangular frame centered on the center of the first image capturing range.
Further, the method for moving the first image capturing range until the center of the moving object is located within the center range includes: setting the center of the moving body as a position to be moved and reached by the center of the central range, calculating the angle of the center of the moving body in the second visual angle and the angle of the center of the central range in the first visual angle, obtaining a first displacement angle from the center of the central range to the center of the moving body through scaling according to the image amplification ratio between the first video and the second video, and enabling the first image acquisition range to move towards the moving body at the first displacement angle.
Further, the method for moving the first image capturing range until the center of the moving object is located within the center range specifically includes: and obtaining a second displacement angle and a displacement direction of the center of the moving body in the rear image and the center of the moving body in the front image, and obtaining a third displacement angle of an image acquisition range of the second video through scaling according to the image amplification ratio between the first video and the second video, so that the image acquisition range of the second video moves by taking the third displacement angle as a movement angle and the displacement direction as a movement direction.
The second objective of the present invention is to provide a moving object image tracking and capturing system, which has the advantage that the shooting angle of view can be moved and aligned to the moving object when the moving object is outside the shooting angle of view.
The second purpose of the invention is realized by the following technical scheme:
a moving body image tracking acquisition system, the system comprising: the first video acquisition device is used for acquiring a first video in a first image acquisition range; the second video acquisition device is used for acquiring a second video in a second image acquisition range; the first visual angle of the first image acquisition range is smaller than the second visual angle of the second image acquisition range, the first visual angle is positioned in the second visual angle, and the center range of a certain area range is set by taking the center of the first image acquisition range as the center; the device comprises a first video acquisition device, a driving device, a boundary setting unit, a second video acquisition device and a display unit, wherein the first video acquisition device is used for acquiring a first image; a moving body judgment unit for judging whether a moving body exists in the boundary range; the boundary crossing judging unit is used for judging whether a moving body exists in the boundary range, if so, the driving device is controlled to enable the first video device to move, so that the first image acquisition range moves to the position where the center of the moving body is located in the central range; the image comparison unit is used for extracting two frames of images at the front end and the rear end of a preset time length in the second video every time a preset time length passes in the process of acquiring the second video by the second video acquisition device and setting the two frames of images as a front image and a rear image; and the control unit is used for judging whether a first displacement angle between the center of the moving body in the rear image and the center of the moving body in the front image exceeds a displacement angle threshold value or not, if so, controlling the driving device to drive the first video acquisition device to move so that the first image acquisition range moves to the position where the center of the moving body is located in the center range, and if not, keeping the first video acquisition device acquiring the first video.
Further, the system further includes a moving body center setting unit configured to determine a rectangular frame around the moving body, and use a geometric center of the rectangular frame as a center of the moving body.
In conclusion, the invention has the following beneficial effects:
when the moving body is positioned outside the first image acquisition range and just enters a second image acquisition range with the moving body, the first image acquisition range can be moved to the moving body by calculating a first displacement angle from the first image acquisition range to the second image acquisition range; when the moving body moves in the second image acquisition range, the third displacement angle of the first image acquisition range is obtained through conversion by calculating the second displacement angle of the movement of the second image acquisition range, so that the first image acquisition range moves along with the movement of the moving body, and the video acquisition of the moving body is always kept.
Drawings
FIG. 1 is a first schematic illustration of an embodiment of the present invention;
FIG. 2 is a schematic illustration of a second embodiment of the present invention;
fig. 3 is a third schematic explanatory diagram of an embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings.
The following first explains the terms related to the present invention:
the first image capturing range refers to a range of a video screen picture that can be captured by the first video capturing device, and specifically may be a picture displayed on the display terminal.
The first view angle, the shooting view angle of the first video capture device, "view angle" should be understood as the view angle of the lens.
The second image capturing range refers to a range of the screen image that can be captured by the second video capturing device, and specifically may be an image displayed on the display terminal.
The second view angle, the shooting view angle of the second video capture device, "view angle" should be understood as the view angle of the lens.
The invention discloses a method for tracking and acquiring a moving body image, which comprises the following steps:
the method comprises the following steps: the method comprises the steps of synchronously collecting a first video in a first image collection range and a second video in a second image collection range, wherein a first visual angle of the first image collection range is smaller than a second visual angle of the second image collection range, the first visual angle is located in the second visual angle, the first visual angle can move in the second visual angle, and a central range of a certain area range is set by taking the center of the first image collection range as the center.
In the embodiment of the present invention, as shown in fig. 1, that is, the first viewing angle is located within the second viewing angle, and the first viewing angle is smaller than the second viewing angle, but the image height of the first image capturing range is not necessarily smaller than the second image capturing range. The center of the first image capturing range is the center of the set of pictures of the first image capturing range, and the first image capturing range is rectangular in the present embodiment, but may have other shapes in other embodiments. In the present embodiment, the first image capturing range is a rectangle centered on the center, and in other embodiments, the first image capturing range may have another shape such as a circle.
Step two: and setting a left boundary positioned on the left side in the second image acquisition range and a right boundary positioned on the right side in the second image acquisition range, wherein a boundary range is formed between the left boundary and the right boundary.
In an embodiment of the present invention, as shown in fig. 1, the positions of the left and right boundaries in the second image acquisition range are shown. The left boundary and the right boundary can be set according to the situation.
Step three: judging whether a moving body exists in the boundary range, if so, moving the first image acquisition range until the center of the moving body is positioned in the central range; and if not, keeping acquiring the first video.
In the embodiment of the present invention, the method for determining whether the moving body is within the boundary range is, as shown in fig. 1, to determine a rectangular frame around the moving body, and to use the geometric center of the rectangular frame as the center of the moving body. And judging whether the center of the moving body is in the boundary range, if so, determining that the moving body is in the boundary range, and if not, determining that the moving body is not in the boundary range. As shown in fig. 2, when the moving body is within the boundary range, the first image capturing range moves the center of the moving body to be located within the center range, and in an embodiment of the present invention, the method of moving the first image capturing range until the center of the moving body is located within the center range is: setting the center of the moving body as a position to be moved and reached by the center of the central range, calculating the angle of the center of the moving body in the second visual angle and the angle of the center of the central range in the first visual angle, obtaining a first displacement angle from the center of the central range to the center of the moving body through scaling according to the image amplification ratio between the first video and the second video, and enabling the first image acquisition range to move towards the moving body at the first displacement angle. The reason why the first bit shift angle needs to be converted is that the picture size of the first image capturing range is different from the image magnification ratio of the second image capturing range, for example, the image magnification ratio of the picture of the first image capturing range to the image magnification ratio of the second image capturing range is 2: 1, then the second image acquisition range needs to be moved by 2 ° to maintain synchronization with the moving body, assuming that the moving body is moved by a displacement angle of 1 ° within the second image range.
Step four: in the process of collecting the second video, every time a preset time length passes, two frames of images at the front end and the rear end of the preset time length in the second video are extracted and set as a front image and a rear image.
In the embodiment of the present invention, whether a moving object moves needs to be compared with two frames of images at the front end and the rear end of a video with a preset duration, as shown in fig. 3, the moving object located at the rightmost position in the second image acquisition range is in a front image state, and the position located near the center in the second image acquisition range is in a rear image state.
Step five: and judging whether a first displacement angle between the center of the moving body in the rear image and the center of the moving body in the front image exceeds a displacement angle threshold value, if so, moving the first image acquisition range until the center of the moving body is positioned in the center range, and if not, keeping acquiring the first video.
In the embodiment of the invention, the moving angle is compared with the displacement angle threshold value to determine whether the moving body moves. In this embodiment, the method of moving the first image capturing range until the center of the moving object is located within the center range specifically includes: and obtaining a second displacement angle and a displacement direction of the center of the moving body in the rear image and the center of the moving body in the front image, obtaining a first displacement angle from the center of the center range to the center of the moving body through scaling according to the image amplification ratio between the first video and the second video, enabling the first image acquisition range to move towards the moving body by the first displacement angle, and moving by taking the displacement direction as the moving direction. As described in the third step, after the moving object enters the boundary range, the center range and the moving object are already located, so that the first image acquisition range can accurately capture the moving object only by calculating the third displacement angle and following the third displacement angle in the displacement direction.
The principle of the invention is as follows: when the moving body is positioned outside the first image acquisition range and just enters a second image acquisition range with the moving body, the first image acquisition range can be moved to the moving body by calculating a first displacement angle from the first image acquisition range to the second image acquisition range; when the moving body moves in the second image acquisition range, the third displacement angle of the first image acquisition range is obtained through conversion by calculating the second displacement angle of the movement of the second image acquisition range, so that the first image acquisition range moves along with the movement of the moving body, and the video acquisition of the moving body is always kept.
The invention also discloses a moving body image tracking and acquiring system, which comprises:
the first video acquisition device is used for acquiring a first video in a first image acquisition range;
the second video acquisition device is used for acquiring a second video in a second image acquisition range;
the first visual angle of the first image acquisition range is smaller than the second visual angle of the second image acquisition range, the first visual angle is positioned in the second visual angle, and the center range of a certain area range is set by taking the center of the first image acquisition range as the center;
the driving device is used for driving the first video acquisition device to move so as to enable the first visual angle to translate within the second visual angle;
the boundary setting unit is used for setting a left boundary positioned on the left side in the second image acquisition range and a right boundary positioned on the right side in the second image acquisition range, and a boundary range is formed between the left boundary and the right boundary;
a moving body judgment unit for judging whether a moving body exists in the boundary range;
the boundary crossing judging unit is used for judging whether a moving body exists in the boundary range, if so, the driving device is controlled to enable the first video device to move, so that the first image acquisition range moves to the position where the center of the moving body is located in the central range; if not, the first video device keeps acquiring the first video;
the image comparison unit is used for extracting two frames of images at the front end and the rear end of a preset time length in the second video every time a preset time length passes in the process of acquiring the second video by the second video acquisition device, and setting the two frames of images as a front image and a rear image;
and the control unit is used for judging whether a first displacement angle between the center of the moving body in the rear image and the center of the moving body in the front image exceeds a displacement angle threshold value or not, if so, controlling the driving device to drive the first video acquisition device to move so that the first image acquisition range moves to the position where the center of the moving body is located in the center range, and if not, keeping the first video acquisition device acquiring the first video.
And the moving body center setting unit is used for determining a rectangular frame of the periphery of the moving body, and taking the geometric center of the rectangular frame as the center of the moving body.
Claims (5)
1. A method for tracking and acquiring images of a moving body is characterized by comprising the following steps:
synchronously acquiring a first video in a first image acquisition range and a second video in a second image acquisition range, wherein a first visual angle of the first image acquisition range is smaller than a second visual angle of the second image acquisition range, the first visual angle is positioned in the second visual angle, the first visual angle can move in the second visual angle, and a central range of a certain area range is set by taking the center of the first image acquisition range as the center;
setting a left boundary positioned on the left side in the second image acquisition range and a right boundary positioned on the right side in the second image acquisition range, wherein a boundary range is formed between the left boundary and the right boundary;
judging whether a moving body exists in the boundary range, if so, moving the first image acquisition range until the center of the moving body is positioned in the central range; if not, keeping collecting the first video;
when a moving body exists in the boundary range, the method for moving the first image acquisition range until the center of the moving body is positioned in the center range comprises the following steps: setting the center of the moving body as a position to be moved and reached by the center of the central range, calculating the angle of the center of the moving body in the second visual angle and the angle of the center of the central range in the first visual angle, obtaining a first displacement angle from the center of the central range to the center of the moving body through scaling according to the image amplification ratio between the first video and the second video, and enabling the first image acquisition range to move towards the moving body at the first displacement angle;
in the process of collecting the second video, extracting two frames of images at the front end and the rear end of a preset time length in the second video every time when the preset time length passes, and setting the two frames of images as a front image and a rear image;
judging whether a first displacement angle between the center of the moving body in the rear image and the center of the moving body in the front image exceeds a displacement angle threshold value or not, if so, moving the first image acquisition range until the center of the moving body is positioned in the center range, and if not, keeping acquiring the first video;
when judging whether the first displacement angle exceeds the displacement angle threshold value, the method for moving the first image acquisition range until the center of the moving body is positioned in the center range specifically comprises the following steps: and obtaining a second displacement angle and a displacement direction of the center of the moving body in the rear image and the center of the moving body in the front image, and obtaining a third displacement angle of the first image acquisition range of the first video through scaling according to the image amplification ratio between the first video and the second video, so that the first image acquisition range of the first video moves by taking the third displacement angle as a movement angle and the displacement direction as a movement direction.
2. The moving body image tracking acquisition method according to claim 1, wherein the center of the moving body determination method is: and determining a rectangular frame of the periphery of the moving body, and taking the geometric center of the rectangular frame as the center of the moving body.
3. The moving object image tracking acquisition method according to claim 1, wherein the central range is a range within a circular frame or a rectangular frame centered on the center of the first image acquisition range.
4. A moving body image tracking acquisition system, characterized in that the system comprises:
the first video acquisition device is used for acquiring a first video in a first image acquisition range;
the second video acquisition device is used for acquiring a second video in a second image acquisition range;
the first visual angle of the first image acquisition range is smaller than the second visual angle of the second image acquisition range, the first visual angle is positioned in the second visual angle, and the center range of a certain area range is set by taking the center of the first image acquisition range as the center;
the driving device is used for driving the first video acquisition device to move so as to enable the first visual angle to translate within the second visual angle;
the boundary setting unit is used for setting a left boundary positioned on the left side in the second image acquisition range and a right boundary positioned on the right side in the second image acquisition range, and a boundary range is formed between the left boundary and the right boundary;
a moving body judgment unit for judging whether a moving body exists in the boundary range;
the boundary crossing judging unit is used for judging whether a moving body exists in the boundary range, if so, the driving device is controlled to enable the first video device to move, so that the first image acquisition range moves to the position where the center of the moving body is located in the central range; if not, the first video device keeps acquiring the first video;
the image comparison unit is used for extracting two frames of images at the front end and the rear end of a preset time length in the second video every time a preset time length passes in the process of acquiring the second video by the second video acquisition device, and setting the two frames of images as a front image and a rear image;
the control unit is used for judging whether a first displacement angle between the center of the moving body in the rear image and the center of the moving body in the front image exceeds a displacement angle threshold value or not, if so, the control unit controls the driving device to drive the first video acquisition device to move so that the first image acquisition range moves to the position where the center of the moving body is located in the center range, and if not, the control unit keeps the first video acquisition device acquiring the first video;
when the moving body judging unit judges that a moving body exists in the boundary range, the method that the driving device moves the first image acquisition range until the center of the moving body is positioned in the center range comprises the following steps: setting the center of the moving body as a position to be moved and reached by the center of the central range, calculating the angle of the center of the moving body in the second visual angle and the angle of the center of the central range in the first visual angle, obtaining a first displacement angle from the center of the central range to the center of the moving body through scaling according to the image amplification ratio between the first video and the second video, and enabling the first image acquisition range to move towards the moving body at the first displacement angle;
when the control unit judges whether the first displacement angle exceeds the displacement angle threshold, the method for the driving device to move the first image acquisition range until the center of the moving body is positioned in the center range specifically comprises the following steps: and obtaining a second displacement angle and a displacement direction of the center of the moving body in the rear image and the center of the moving body in the front image, and obtaining a third displacement angle of the first image acquisition range of the first video through scaling according to the image amplification ratio between the first video and the second video, so that the first image acquisition range of the first video moves by taking the third displacement angle as a movement angle and the displacement direction as a movement direction.
5. The moving body image tracking acquisition system according to claim 4, further comprising a moving body center setting unit configured to determine a rectangular frame of the periphery of the moving body, with a geometric center of the rectangular frame as a center of the moving body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910625073.2A CN110351520B (en) | 2019-07-11 | 2019-07-11 | Moving body image tracking and acquiring method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910625073.2A CN110351520B (en) | 2019-07-11 | 2019-07-11 | Moving body image tracking and acquiring method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110351520A CN110351520A (en) | 2019-10-18 |
| CN110351520B true CN110351520B (en) | 2021-06-22 |
Family
ID=68175038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910625073.2A Active CN110351520B (en) | 2019-07-11 | 2019-07-11 | Moving body image tracking and acquiring method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110351520B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101547344A (en) * | 2009-04-24 | 2009-09-30 | 清华大学深圳研究生院 | Video monitoring device and tracking and recording method based on linkage camera |
| CN103716594A (en) * | 2014-01-08 | 2014-04-09 | 深圳英飞拓科技股份有限公司 | Panorama splicing linkage method and device based on moving target detecting |
| CN104125433A (en) * | 2014-07-30 | 2014-10-29 | 西安冉科信息技术有限公司 | Moving object video surveillance method based on multi-PTZ (pan-tilt-zoom)-camera linkage structure |
| CN204087409U (en) * | 2014-05-30 | 2015-01-07 | 天津市亚安科技股份有限公司 | Multi-direction video monitoring one key alarm linked system |
| CN106331471A (en) * | 2015-07-10 | 2017-01-11 | 宇龙计算机通信科技(深圳)有限公司 | Automatic tracking image pickup method, apparatus, mobile terminal and rotary support |
| CN108112271A (en) * | 2016-01-29 | 2018-06-01 | 谷歌有限责任公司 | Movement in detection image |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101290517B1 (en) * | 2007-02-27 | 2013-07-26 | 연세대학교 산학협력단 | Photographing apparatus for tracking object and method thereof |
| CN101465033B (en) * | 2008-05-28 | 2011-01-26 | 丁国锋 | Automatic tracking recognition system and method |
| TWI405457B (en) * | 2008-12-18 | 2013-08-11 | Ind Tech Res Inst | Multi-target tracking system, method and smart node using active camera handoff |
| CN101489120A (en) * | 2009-01-21 | 2009-07-22 | 北京中星微电子有限公司 | System, apparatus and method for implementing video monitoring regional occlusion |
| US9087378B2 (en) * | 2012-06-29 | 2015-07-21 | Hong Kong Applied Science and Technology Research Institute Company Limited | Scale changing detection and scaling ratio determination by using motion information |
| KR20150071504A (en) * | 2013-12-18 | 2015-06-26 | 한국전자통신연구원 | Auto changing system for camera tracking control authority and auto changing method for camera tracking control authority thereof |
| US9479703B2 (en) * | 2014-09-28 | 2016-10-25 | Hai Yu | Automatic object viewing methods and apparatus |
| US11240403B2 (en) * | 2017-02-24 | 2022-02-01 | Avigilon Corporation | Compensation for delay in PTZ camera system |
-
2019
- 2019-07-11 CN CN201910625073.2A patent/CN110351520B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101547344A (en) * | 2009-04-24 | 2009-09-30 | 清华大学深圳研究生院 | Video monitoring device and tracking and recording method based on linkage camera |
| CN103716594A (en) * | 2014-01-08 | 2014-04-09 | 深圳英飞拓科技股份有限公司 | Panorama splicing linkage method and device based on moving target detecting |
| CN204087409U (en) * | 2014-05-30 | 2015-01-07 | 天津市亚安科技股份有限公司 | Multi-direction video monitoring one key alarm linked system |
| CN104125433A (en) * | 2014-07-30 | 2014-10-29 | 西安冉科信息技术有限公司 | Moving object video surveillance method based on multi-PTZ (pan-tilt-zoom)-camera linkage structure |
| CN106331471A (en) * | 2015-07-10 | 2017-01-11 | 宇龙计算机通信科技(深圳)有限公司 | Automatic tracking image pickup method, apparatus, mobile terminal and rotary support |
| CN108112271A (en) * | 2016-01-29 | 2018-06-01 | 谷歌有限责任公司 | Movement in detection image |
Non-Patent Citations (1)
| Title |
|---|
| 基于多摄像头协同的多目标跟踪***;赖泽锋;《中国优秀硕士学位论文全文数据库（电子期刊）信息科技辑》;20150131;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110351520A (en) | 2019-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020029921A1 (en) | Monitoring method and device | |
| US7548269B2 (en) | System for autofocusing a moving object | |
| CN103716594B (en) | Panorama splicing linkage method and device based on moving target detecting | |
| US9661232B2 (en) | Apparatus and method providing auto zoom in response to relative movement of target subject matter | |
| CN103716595B (en) | Panoramic mosaic video camera and ball machine inter-linked controlling method and device | |
| CN110121881B (en) | Double-lens intelligent camera equipment and camera shooting method thereof | |
| US7256817B2 (en) | Following device | |
| JP5472506B2 (en) | Tracking imaging system and imaging control method for a plurality of moving objects | |
| CN103986876A (en) | Image acquiring terminal and image acquiring method | |
| CN108139561B (en) | Image pickup apparatus and image pickup method | |
| CN113111715B (en) | Unmanned aerial vehicle target tracking and information acquisition system and method | |
| CN101621619A (en) | Shooting method for simultaneously focusing various faces and digital image capture device thereof | |
| CN111242988A (en) | Method for tracking target by using double pan-tilt coupled by wide-angle camera and long-focus camera | |
| EP2725781A1 (en) | Method of setting focus of a digital video camera and a digital video camera doing the same | |
| CN106791353B (en) | The methods, devices and systems of auto-focusing | |
| JP2011109630A (en) | Universal head for camera apparatus | |
| CN113840137B (en) | Verification method and system for mobile detection sensitivity of network camera | |
| CN110351520B (en) | Moving body image tracking and acquiring method and system | |
| CN102340628A (en) | Camera and control method thereof | |
| JP2011040990A (en) | Imaging apparatus | |
| JP3615867B2 (en) | Automatic camera system | |
| JP6831473B2 (en) | Imaging device and its control method and control program | |
| WO2015141185A1 (en) | Imaging control device, imaging control method, and storage medium | |
| CN108734065B (en) | Gesture image acquisition equipment and method | |
| JPH05211625A (en) | Image pickup device |
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 |