CN112911249A - Target object tracking method and device, storage medium and electronic device - Google Patents
Target object tracking method and device, storage medium and electronic device Download PDFInfo
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
- H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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Abstract
The embodiment of the invention provides a method and a device for tracking a target object, a storage medium and an electronic device, wherein the method comprises the following steps: acquiring multimedia information obtained by shooting a target area by first equipment; identifying the multimedia information to obtain an identification result; determining location information of a target object included in the target event in a case where it is determined that the target event is included in the multimedia information based on the recognition result; determining a third device included in a second device associated with the first device based on the position information, wherein a region formed by a shooting region of each device included in the second device and the target region satisfy a target condition; and controlling the third equipment to track the target object. According to the invention, the problems of low target object tracking accuracy and low efficiency in the related technology are solved, the target object tracking accuracy is improved, and the target object tracking efficiency is improved.
Description
Technical Field
The embodiment of the invention relates to the field of communication, in particular to a target object tracking method, a target object tracking device, a storage medium and an electronic device.
Background
The target tracking technology of the multi-view camera is more and more widely used in various industries. Tracking and following a specific target in occasions such as squares, supermarkets, stations, crossroads and the like, wherein the monitored area has the characteristics of multiple targets, large pedestrian and vehicle flow, target overlapping and the like; at present, a multi-target camera is mainly controlled by gun-ball linkage, namely, a gun-type camera and a ball-type camera are linked to track a target, the gun-type camera is generally used for panoramic monitoring due to a large monitoring range, the ball-type camera is used for detailed monitoring due to finer precision of PTZ control, the tracking effect on a single target is better at present, and a certain optimization space is still left for the effect when multi-target tracking is carried out simultaneously.
Therefore, the problems of low accuracy and low efficiency of tracking the target object exist in the related technology.
In view of the above problems in the related art, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a target object tracking method, a target object tracking device, a storage medium and an electronic device, and at least solves the problems of low target object tracking accuracy and low target object tracking efficiency in the related art.
According to an embodiment of the present invention, there is provided a tracking method of a target object, including: acquiring multimedia information obtained by shooting a target area by first equipment; identifying the multimedia information to obtain an identification result; determining location information of a target object included in the target event in a case where it is determined that the target event is included in the multimedia information based on the recognition result; determining a third device included in a second device associated with the first device based on the position information, wherein a region formed by a shooting region of each device included in the second device and the target region satisfy a target condition; controlling the third device to track the target object.
According to another embodiment of the present invention, there is provided a tracking apparatus of a target object, including: the acquisition module is used for acquiring multimedia information obtained by shooting a target area by first equipment; the identification module is used for identifying the multimedia information to obtain an identification result; a first determination module configured to determine location information of a target object included in a target event if it is determined that the target event is included in the multimedia information based on the recognition result; a second determination module configured to determine, based on the location information, a third device included in a second device associated with the first device, where an area configured by a shooting area of each device included in the second device and the target area satisfy a target condition; and the tracking module is used for controlling the third equipment to track the target object.
According to yet another embodiment of the invention, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program, when executed by a processor, implements the steps of the method as set forth in any of the above.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the method and the device, the multimedia information obtained by shooting the target area by the first device is obtained, the multimedia information is identified to obtain the identification result, the position information of the target object included in the target time is determined under the condition that the multimedia information includes the target event according to the identification result, the third device included in the second device related to the first device is determined according to the position information, and the third device is controlled to track the target object. Under the condition that the target event is determined to occur, the third equipment is controlled to track the target object, so that the problems of low accuracy and low efficiency of tracking the target object in the related technology can be solved, the accuracy of tracking the target object is improved, and the tracking efficiency is improved.
Drawings
Fig. 1 is a block diagram of a hardware structure of a mobile terminal of a tracking method of a target object according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of tracking a target object according to an embodiment of the invention;
FIG. 3 is a radar velocity schematic according to an exemplary embodiment of the present invention;
FIG. 4 is a schematic diagram of an associated device of a first device according to an exemplary embodiment of the present invention;
FIG. 5 is a flowchart of a method for tracking a target object according to an embodiment of the invention;
fig. 6 is a block diagram of a tracking apparatus of a target object according to an embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking an example of the method running on a mobile terminal, fig. 1 is a block diagram of a hardware structure of the mobile terminal of the method for tracking a target object according to the embodiment of the present invention. As shown in fig. 1, the mobile terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data, wherein the mobile terminal may further include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of an application software, such as a computer program corresponding to the tracking method of the target object in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In this embodiment, a tracking method for a target object is provided, and fig. 2 is a flowchart of the tracking method for a target object according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, acquiring multimedia information obtained by shooting a target area by first equipment;
step S204, identifying the multimedia information to obtain an identification result;
step S206, under the condition that the multimedia information is determined to include the target event based on the identification result, determining the position information of the target object included in the target event;
step S208, determining a third device included in a second device associated with the first device based on the position information, wherein a region formed by the shooting region of each device included in the second device and the target region meet a target condition;
step S210, controlling the third device to track the target object.
In the above embodiment, the first device may be a multi-view panoramic camera, and the multi-view panoramic camera may capture a target area to obtain a panoramic image of the target area. The second device may be a detail camera, for example, a ball machine. The second device may be multiple, that is, the first device may have multiple detail cameras. The photographing regions of the first device and the second device satisfy the target condition. Wherein the target condition may be that a total photographing area made up of photographing areas of each device included in the second device is greater than or equal to the target area. For example, when the shooting area of the first device is 360 °, the shooting area of each device included in the second device constitutes an area of 360 °. When the shooting area of the first device is 350 °, the shooting area of each device included in the second device may be 360 ° or 355 °. For example, when three detail cameras are included in the second device associated with the first device, the shooting area of the first device is 360 °, the angle of each detail camera can be 120 °, and the total area formed by the areas shot by the three detail cameras is the same as the shooting area of the first device. The full coverage of the monitoring visual field within 360 degrees is completed through the multi-view panoramic camera, the target tracking within 360 degrees is completed through the plurality of detail ball machines, targets in different directions can be simultaneously tracked, the waiting time is reduced, the three-dimensional prevention and control are realized, the target discovery and tracking efficiency is improved, and the missing detection caused by target loss is reduced
In an exemplary embodiment, whether a target event occurs in the target area may be determined by identifying multimedia information, and whether a target event occurs may also be determined by receiving a target event alert. In the identification process, whether a target event occurs can be judged through face identification comparison, crowd distribution characteristics, intelligent perimeter, flyer structured operation and the like. The target events may include, but are not limited to, car accidents, abnormal aggregation of people, and the like.
In the above embodiment, the objects included in the area shot by the first device may be calibrated, the position information of each object may be determined, and the third device corresponding to each object may be determined according to the position information. When the target object is determined to be tracked, the third device can be determined through the position information.
Optionally, the main body of the above steps may be a background processor, or other devices with similar processing capabilities, and may also be a machine integrated with at least an image acquisition device and a data processing device, where the image acquisition device may include a graphics acquisition module such as a camera, and the data processing device may include a terminal such as a computer and a mobile phone, but is not limited thereto.
According to the method and the device, the multimedia information obtained by shooting the target area by the first device is obtained, the multimedia information is identified to obtain the identification result, the position information of the target object included in the target time is determined under the condition that the multimedia information includes the target event according to the identification result, the third device included in the second device related to the first device is determined according to the position information, and the third device is controlled to track the target object. Under the condition that the target event is determined to occur, the third equipment is controlled to track the target object, so that the problems of low accuracy and low efficiency of tracking the target object in the related technology can be solved, the accuracy of tracking the target object is improved, and the tracking efficiency is improved.
In one exemplary embodiment, controlling the third device to track the target object includes: determining a tracking priority of each object included in the target object in a case where it is determined that a plurality of objects are included in the target object; controlling the third device to track the target object based on the tracking priority. In this embodiment, when the target object includes a plurality of objects, the tracking priority of the target object may be determined first, and the third device may be controlled to track the target object according to the tracking priority.
In one exemplary embodiment, determining the tracking priority of each object included in the target object includes: controlling a fourth device to measure a motion parameter of each of the objects included in the target object; determining the tracking priority of each object included in the target object based on the motion parameters. In this embodiment, the motion parameter of the target object may be measured by controlling the fourth device, and the priority of the target object may be determined according to the motion parameter. Wherein the fourth device may be a radar apparatus with which the motion parameter of the target object is measured. The motion parameters may include speed, motion direction of the target object, and distance information of the target object within the monitoring range.
In the above embodiments, each first device (e.g., the multi-view panoramic camera) may be equipped with a radar module, achieving full coverage over a 360 ° range. And the radar detection distance is long, the motion information of the target in a larger range can be acquired, and the three-dimensional prevention and control of large scenes such as large crossroads, squares and the like can be realized. When measuring the motion parameters, a velocity measurement method based on the doppler effect principle can be used to obtain the position and velocity information of the target, where the doppler effect is that when there is relative motion between the vibration source and the observer, the vibration frequency received by the observer is different from the vibration source frequency. The radar system transmits radio waves through the antenna and receives reflected signals of a target, the frequency of the transmitted waves changes along with the time according to the rule of a modulation signal, when the detected target moves relative to the radar system, a frequency difference exists between the reflected waves and the transmitted waves, the relative speed of the target and the radar can be measured through the frequency difference, and the distance information of the target object is calculated.
In the above embodiment, when the fourth device is a radar, the radar speed measurement schematic diagram can refer to fig. 3, as shown in fig. 3, taking a triangular wave modulation signal as an example, the radar transmits radio waves, a target object receives the radar signals to generate echoes, the shape of the echoes is consistent with the shape of the transmitted waves, only there is a delay in time, the frequency difference between the transmitted signals and the return signals at a certain moment is an intermediate frequency signal output by mixing, the target distance is proportional to the intermediate frequency, and for a moving object, the reflected signals further include a doppler shift caused by relative motion. Intermediate frequency signal f+、f-Is represented as follows:
wherein f is0For the center frequency of the transmission, B is the bandwidth, TcFor the scan period, c is the speed of light, R is the relative distance to the target, and V is the relative velocity of the target object. The distance and velocity information of the target is calculated according to the Doppler principle as follows:
in the embodiment, the target information in a more accurate and farther range can be obtained based on the distance measurement and speed measurement of the target by the radar system, the problem of difficulty in remote detection is solved, and the shielding and tracking of the object in the field of view are not affected.
In one exemplary embodiment, controlling the third device to track the target object based on the tracking priority includes: sequencing each object included in the target object according to the sequence of the tracking priority from high to low to obtain a tracking priority queue; determining a weight of the tracking priority of each object included in the target object; sequentially align the tracking priority queuesThe method comprises the following steps of performing the following operations on a first object and a second object which are adjacent to each other: determining a weight difference of a weight of the tracking priority of the first object and a weight of the tracking priority of the second object; controlling the third device to track the first object and the second object if the weight difference is greater than a predetermined threshold. In this embodiment, if no target event is triggered currently, a conventional mode is used for monitoring, and the multi-view panoramic camera (first device) covers a 360-degree monitoring picture to mark all targets, so as to ensure a large-range stereoscopic monitoring effect. The second equipment performs round-robin on the targets in the respective monitoring ranges to reduce the possible target loss rate; when an intelligent event (corresponding to the target time) is triggered, the system enters a linkage mode for monitoring, firstly, target distance and speed information measured by the radar are intelligently extracted, and a priority queue L with weight is generated according to the distance and speed information, wherein L (n) is wWeight of(n)*fPriority level(Sn,Vn) Wherein w isWeight of(n) as a function of the weight of the target object, the system determining its weight from the global information of the target object, fPriority level(Sn,Vn) Is a priority function of the target, which is mainly determined by the distance S of the targetnAnd velocity VnThe method and the device jointly determine that the target with higher speed and longer distance is processed preferentially, so that the target is prevented from being lost in a monitoring picture due to too high motion speed or the position of the target at the edge of the picture, and the capture missing rate is reduced. And after entering the linkage mode, tracking and capturing the target with the highest priority in the monitoring view range by the third equipment to acquire required target information.
In the above embodiment, the weight information of the target object may be calculated by a weight function, and the weight difference w between the next-level target object and the previous-level target object is calculateddAnd a reference weight value w0A comparison is made to determine a policy to process the next priority target object. If the weight difference wd≥w0And the priority of the next-level target object is not too high, so that the third equipment is allowed to process the next-level target object after the third equipment finishes processing the previous-level target object. The third device is controlled to track the first object and the second object.
In the above embodiment, if the current target object is snapshot and information forensics is completed, the next-level target object is snapshot forensics; and if the snapshot is not finished, judging the current state of the target object and tracking until the snapshot is finished.
In one exemplary embodiment, after determining a weight difference of the weight of the tracking priority of the first object and the weight of the tracking priority of the second object, the method further comprises: controlling the third device to track the first object if the weight difference is less than or equal to the predetermined threshold; controlling a fifth device associated with the first device to track the second object. In this embodiment, if the weight difference wd≤w0If the relative priority of the next-level target object is higher, the detailed dome camera 2 (corresponding to the fifth device) with higher linkage speed and larger rotation range tracks and captures the target, and the situation that the detailed dome camera 1 (corresponding to the third device) cannot process the next-level target object in time to cause missing measurement is prevented.
In the embodiment, in order to improve the efficiency of tracking multiple target objects simultaneously, the interference of factors such as obvious light change and the like on target tracking is reduced, and the missing rate and the loss rate are reduced. The multi-view panoramic camera can be used for monitoring and fully covering within 360 degrees based on a multi-level camera module structure, all target information is acquired, the distance and speed information of a target is detected by means of a radar system, and a priority queue with weight is generated. Selecting a current monitoring mode according to whether an intelligent event (corresponding to the target event) occurs, monitoring by a multi-view panoramic camera when no event occurs, and monitoring by a ball machine in a normal round-robin target mode; and when an event occurs, entering a linkage mode, selecting a linkage strategy according to a priority function and a weight function, firstly linking each detail ball machine 1 (corresponding to the third equipment) to track and snapshot a target in a monitoring range of the detail ball machine, and when the detail ball machine is not in time to process or exceeds the processing range, linking the detail ball machine 2 (corresponding to the fifth equipment or the sixth equipment) to quickly track so as to prevent the target from being lost, reduce the missing detection of the target and ensure the capture rate of the target. Targets in different directions can be tracked simultaneously, waiting time is reduced, and target tracking efficiency is improved; the distance and the movement speed of the targets are comprehensively considered, the targets are arranged according to priority and have priority weights, the processing levels are further distinguished, and detection omission due to untimely processing is prevented; the detail dome camera 2 ensures that the target can be tracked when the detail camera 1 may come too late to process or the processing effect is not good.
In the above embodiment, based on a three-layer system structure composed of a plurality of detail dome cameras 1, a multi-view panoramic camera, and a detail dome camera 2, the distance and the movement speed factors of the targets are comprehensively considered, the targets are arranged according to priority and have priority weights, the processing levels are further distinguished, missing detection due to untimely processing is prevented, and the snapshot efficiency and the response speed to the targets are effectively improved. The complex scene is covered by a single device, so that the flexibility of the device and the applicability of the scene are improved.
In an exemplary embodiment, after controlling the third device to track the target object, the method further includes: receiving feedback information sent by the third equipment; controlling a sixth device associated with the first device to track the target object if it is determined based on the feedback information that the third device failed to track the target object. In the present embodiment, if the target object is out of the monitoring range of the single detailed dome camera 1 (corresponding to the third device described above), the third device transmits the feedback information, and performs the processing of the next target object. After feedback information sent by the third device is received, the target object can be tracked by the aid of the linkage detail ball machine 2 (corresponding to the sixth device), so that even if the position of the target object changes greatly, the target object can be quickly tracked, and missing measurement caused by target object loss is avoided.
In one exemplary embodiment, before determining a third device included in a second device associated with the first device based on the location information, the method further comprises: determining a shooting area of the first device; determining the second device associated with the first device based on the photographing region. In this embodiment, the second device associated with the first device may be determined according to the photographing region of the first device. Referring to fig. 4, a schematic diagram of associated devices of the first device may be shown, and as shown in fig. 4, the apparatus may include: 1) a multi-view panoramic camera (corresponding to the first device described above); 2) a detail camera 1-1 (corresponding to the third device), a cradle head 1-1 and an intelligent control module, a detail camera 1-2 (corresponding to the third device), a cradle head 1-2 and an intelligent control module, a detail camera 1-3 (corresponding to the third device), a cradle head 1-3 and an intelligent control module; 3) a detail camera 2 (corresponding to the fifth device described above), a pan-tilt 2 and an intelligent control module. The detailed description is as follows: (1) the multi-view panoramic camera is fixed, the monitoring range covers 360 degrees, all targets in the panoramic range are mainly identified and detected, and the intelligent control module is used for linking the actions of the detail camera; (2) the detail cameras 1-1, 1-2 and 1-3 are respectively carried on the independent cloud platforms, the three cloud platforms which independently operate can respectively track different target objects and are not interfered, the target tracking range is enlarged, and the details of the target snapshot which moves at high speed are greatly increased due to the characteristics of high accuracy and high operating speed of the operation of the cloud platforms. The horizontal visual angle range of each detail camera can be 0-120 degrees, the vertical visual angle can be 0-45 degrees, the three detail cameras cover the 360-degree range in total and respectively monitor the targets in the respective areas, and therefore, the structure has great advantages for scenes in which multiple targets are simultaneously tracked in different directions. In addition, the multi-view panoramic camera and the detail camera are independent in structural moving parts, and do not influence each other when moving, so that the monitoring scene of the panoramic camera cannot be changed when the detail camera moves, the stability of the monitoring range of the panoramic camera is ensured, and the timeliness of the detail camera for tracking different targets is also ensured; the multi-view panoramic camera is provided with a plurality of radar modules, and the detection range of the radar covers 360 degrees. The radar ranging device (corresponding to the fourth device) is used for acquiring the position of the tracked target, so that the accuracy of positioning is ensured. In addition, the high loss rate of the target position can be compensated when the moving speed of the target object is too high; (3) the detail camera 2 is built on the independent holder 2, the horizontal visual angle range of the detail camera can be 0-355 degrees, the vertical visual angle range can be-10-90 degrees, the moving range is large, the given target can be tracked in an all-round mode, linkage is carried out according to intelligent control of the panoramic camera, the target is tracked in an auxiliary mode, the target tracking efficiency is further guaranteed, the target loss probability is effectively reduced, and the purpose of tracking the details of a plurality of targets under a large-range monitoring scene is finally achieved.
Compared with the common positioning method, the radar has the advantages of longer distance detection and stronger anti-interference performance. The high-precision remote detection can enhance the accuracy of target positioning; the strong anti-interference performance comprises interference of light, and the problem of high loss rate of target tracking in the low-light environment with obvious light intensity change can be solved. More accurate target motion information is provided through the radar ranging device, the positioning accuracy of the detected target is greatly enhanced, and the problem that the target is difficult to track in scenes with obvious light changes, particularly low illumination, is solved.
The following describes a tracking method of a target object with reference to a specific embodiment:
fig. 5 is a flowchart of a method for tracking a target object according to an embodiment of the present invention, where as shown in fig. 5, the flowchart includes:
step S502, initializing the system, initializing intelligent relevant parameters and holder parameters, setting radar linkage information, confirming the online state of the radar, calibrating the positions and detection ranges of a plurality of radars, calibrating and the like.
Step S504, intelligent configuration, multiple panoramic cameras carry out monitoring in respective ranges, all targets in the calibration field are extracted, and intelligent detection rules of the cameras are configured.
And S506, recognizing the target in a panoramic mode, and ranging and measuring the speed of the target by the radar module to obtain accurate target motion information.
Step S508 determines whether there is an intelligent event trigger, and if yes, step S510 is executed, and if no, step S512 is executed.
Step S510, linkage mode monitoring: and extracting the distance and speed information of the target.
Step S512, monitoring in a normal mode: and (4) carrying out panoramic monitoring on the picture, and polling and tracking the target in the range by a detail dome camera (corresponding to the second equipment).
Step S514, generating a priority queue with weight according to the distance and speed information of the target.
And step S516, linking a plurality of detail cameras 1 to capture the target within the range.
Step S518, judging whether the weight difference value of the connection target is less than w0If the determination result is no, step S520 is executed, and if the determination result is yes, step S522 is executed.
In step S520, it is determined whether the target is out of the range of the single detail camera 1, and in the case where the determination result is no, step S524 is performed, and in the case where the determination result is yes, step S522 is performed.
In step S522, the linked detail camera 2 performs quick snapshot.
In step S524, it is determined whether the target snapshot is completed, and if the determination result is yes, step S516 is executed, and if the determination result is no, step S520 is executed.
In the foregoing embodiment, under a large-scene complex environment, multiple targets (including moving targets and stationary targets) in different directions can be simultaneously located and tracked, and the target detection loss rate is reduced. The motion information of the target and the cooperative cooperation of the multi-target panorama and the multiple detail cameras are obtained through a radar algorithm, the problem of simultaneous tracking of multiple targets in a large scene is solved, the target detection efficiency is improved, and the target missing rate is reduced.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a tracking apparatus for a target object is further provided, and the apparatus is used to implement the foregoing embodiments and preferred embodiments, and the description of which has been already made is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 6 is a block diagram of a structure of a tracking apparatus of a target object according to an embodiment of the present invention, as shown in fig. 6, the apparatus including:
an obtaining module 602, configured to obtain multimedia information obtained by shooting a target area by a first device;
an identifying module 604, configured to identify the multimedia information to obtain an identification result;
a first determining module 606, configured to determine, if it is determined that a target event is included in the multimedia information based on the recognition result, location information of a target object included in the target event;
a second determining module 608, configured to determine, based on the location information, a third device included in a second device associated with the first device, where an area formed by a shooting area of each device included in the second device and the target area satisfy a target condition;
a tracking module 610, configured to control the third device to track the target object.
In an exemplary embodiment, the tracking module 610 may control the third device to track the target object by: determining a tracking priority of each object included in the target object in a case where it is determined that a plurality of objects are included in the target object; controlling the third device to track the target object based on the tracking priority.
In an exemplary embodiment, the tracking module 610 may determine the tracking priority of each object included in the target object by: controlling a fourth device to measure a motion parameter of each of the objects included in the target object; determining the tracking priority of each object included in the target object based on the motion parameters.
In an exemplary embodiment, the tracking module 610 may enable controlling the third device to track the target object based on the tracking priority by: sequencing each object included in the target object according to the sequence of the tracking priority from high to low to obtain a tracking priority queue; determining a weight of the tracking priority of each object included in the target object; sequentially executing the following operations on the first object and the second object which are adjacent to each other and are included in the tracking priority queue: determining a weight difference of a weight of the tracking priority of the first object and a weight of the tracking priority of the second object; controlling the third device to track the first object and the second object if the weight difference is greater than a predetermined threshold.
In an exemplary embodiment, the apparatus may be configured to, after determining a weight difference between a weight of the tracking priority of the first object and a weight of the tracking priority of the second object, control the third device to track the first object if the weight difference is less than or equal to the predetermined threshold; controlling a fifth device associated with the first device to track the second object.
In an exemplary embodiment, the apparatus may be configured to receive feedback information sent by the third device after controlling the third device to track the target object; controlling a sixth device associated with the first device to track the target object if it is determined based on the feedback information that the third device failed to track the target object.
In one exemplary embodiment, the apparatus may be further configured to determine a photographing region of the first device before determining a third device included in a second device associated with the first device based on the location information; determining the second device associated with the first device based on the photographing region.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method as set forth in any of the above.
In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary embodiments, and details of this embodiment are not repeated herein.
It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and they may be implemented using program code executable by the computing devices, such that they may be stored in a memory device and executed by the computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into various integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for tracking a target object, comprising:
acquiring multimedia information obtained by shooting a target area by first equipment;
identifying the multimedia information to obtain an identification result;
determining location information of a target object included in the target event in a case where it is determined that the target event is included in the multimedia information based on the recognition result;
determining a third device included in a second device associated with the first device based on the position information, wherein a region formed by a shooting region of each device included in the second device and the target region satisfy a target condition;
controlling the third device to track the target object.
2. The method of claim 1, wherein controlling the third device to track the target object comprises:
determining a tracking priority of each object included in the target object in a case where it is determined that a plurality of objects are included in the target object;
controlling the third device to track the target object based on the tracking priority.
3. The method of claim 2, wherein determining a tracking priority for each object included in the target object comprises:
controlling a fourth device to measure a motion parameter of each of the objects included in the target object;
determining the tracking priority of each object included in the target object based on the motion parameters.
4. The method of claim 2, wherein controlling the third device to track the target object based on the tracking priority comprises:
sequencing each object included in the target object according to the sequence of the tracking priority from high to low to obtain a tracking priority queue;
determining a weight of the tracking priority of each object included in the target object;
sequentially executing the following operations on the first object and the second object which are adjacent to each other and are included in the tracking priority queue:
determining a weight difference of a weight of the tracking priority of the first object and a weight of the tracking priority of the second object;
controlling the third device to track the first object and the second object if the weight difference is greater than a predetermined threshold.
5. The method of claim 4, wherein after determining a weight difference between the weight of the tracking priority of the first object and the weight of the tracking priority of the second object, the method further comprises:
controlling the third device to track the first object if the weight difference is less than or equal to the predetermined threshold;
controlling a fifth device associated with the first device to track the second object.
6. The method of claim 1, wherein after controlling the third device to track the target object, the method further comprises:
receiving feedback information sent by the third equipment;
controlling a sixth device associated with the first device to track the target object if it is determined based on the feedback information that the third device failed to track the target object.
7. The method of claim 1, wherein prior to determining a third device included in a second device associated with the first device based on the location information, the method further comprises:
determining a shooting area of the first device;
determining the second device associated with the first device based on the photographing region.
8. An apparatus for tracking a target object, comprising:
the acquisition module is used for acquiring multimedia information obtained by shooting a target area by first equipment;
the identification module is used for identifying the multimedia information to obtain an identification result;
a first determination module configured to determine location information of a target object included in a target event if it is determined that the target event is included in the multimedia information based on the recognition result;
a second determination module configured to determine, based on the location information, a third device included in a second device associated with the first device, where an area configured by a shooting area of each device included in the second device and the target area satisfy a target condition;
and the tracking module is used for controlling the third equipment to track the target object.
9. A computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 7.
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