CN116962649A - Image monitoring and adjusting system and line construction model - Google Patents
Image monitoring and adjusting system and line construction model Download PDFInfo
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- CN116962649A CN116962649A CN202311205474.5A CN202311205474A CN116962649A CN 116962649 A CN116962649 A CN 116962649A CN 202311205474 A CN202311205474 A CN 202311205474A CN 116962649 A CN116962649 A CN 116962649A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 40
- 238000010276 construction Methods 0.000 title claims abstract description 25
- 239000011159 matrix material Substances 0.000 claims abstract description 83
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000001131 transforming effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 6
- 238000005457 optimization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious 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
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Signal Processing (AREA)
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- Theoretical Computer Science (AREA)
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- Geometry (AREA)
- Software Systems (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention relates to the technical field of monitoring system deployment, in particular to an image monitoring and adjusting system and a line construction model. The image monitoring and adjusting system is used for adjusting shooting angles of 2 adjacent cameras respectively and comprises a point cloud database, a three-dimensional point cloud generating unit, a rotation matrix calculating unit and an angle adjusting unit. The line construction model power transmission line point cloud establishment unit and the image monitoring and adjusting system. The invention can realize the guidance of the deployment of the monitoring system on the construction site based on the acquired power transmission line point cloud data, and particularly can preferably realize the automatic adjustment of the shooting angle of a single camera.
Description
Technical Field
The invention relates to the technical field of monitoring system deployment, in particular to an image monitoring and adjusting system and a line construction model.
Background
In the process of line construction, the monitoring of a construction site can be realized by deploying a video monitoring system, so that the aim of auxiliary management and control is fulfilled. When a video monitoring system is deployed, the following problems need to be considered:
1. how to realize the coverage rate of the video monitoring system, especially for long and narrow construction sections such as a power transmission channel, the shooting angles between adjacent cameras need to be repeatedly adjusted so as to realize the acquisition of the maximum coverage rate, namely the monitoring blind area is reduced to the greatest extent;
2. considering the mature application of the current image recognition algorithm, the mature image recognition algorithm is possible to be applied to automatic detection, recognition and the like of the monitoring picture; in terms of the principle of the image recognition detection algorithm, a precondition is that the parameters of the shot monitoring picture cannot be changed excessively, otherwise, the parameters of the corresponding image recognition detection algorithm are required to be adjusted again; however, in the construction of the power transmission line, in consideration of the progress of the construction and the harsher environment of the construction site, a camera at a monitoring point of the deployed video monitoring system has certain movement, unpredictable offset and the like; this will necessarily lead to difficulty in ensuring the stability of the result of the image recognition detection algorithm when it is in operation.
Disclosure of Invention
The invention provides an image monitoring and adjusting system which can solve the problem that the shooting angle of a single camera is difficult to accurately adjust when the existing video monitoring system is deployed.
An image monitoring adjustment system according to the present invention is used for respectively realizing adjustment of photographing angles of 2 adjacent cameras, and includes:
a point cloud database for storing spatial point cloud data of a construction site；
Three-dimensional point cloud generating unitFor self-space point cloud dataSpatial point cloud data of overlapping areas of the 2 adjacent cameras are acquired +.>And respectively +.>Transforming into the coordinate system of the 2 adjacent cameras to obtain three-dimensional point clouds respectively corresponding to the 2 adjacent cameras>And three-dimensional point cloud->；
A rotation matrix calculation unit for calculating an initial rotation matrix based on the 2 adjacent cameras asThe internal reference matrix is->The initial rotation matrix is +.>And the internal reference matrix is->Acquiring the target rotation matrix of the 2 adjacent cameras as +.>And the target rotation matrix is +.>；
wherein ,
，
；
wherein, coordinate pointIs a three-dimensional point cloud->Any one of the coordinate points->Is a three-dimensional point cloud->Any one of the points;
the target rotation matrix isThe initial rotation matrix is +.>The internal reference matrix is->And three-dimensional point cloud->One of the 2 adjacent cameras;
the target rotation matrix isThe initial rotation matrix is +.>The internal reference matrix is->And three-dimensional point cloud->Another of the 2 adjacent cameras;
angle adjustmentA unit in the form ofAs course angle and +.>Adjusting the angle of said one of said 2 adjacent cameras as pitch angle to +.>As course angle and +.>And adjusting the angle corresponding to the other angle of the 2 adjacent cameras as a pitch angle.
Preferably, after the 2 adjacent cameras are installed, the initial rotation matrix is obtained through calibrationThe internal reference matrix is->The initial rotation matrix is +.>And the internal reference matrix is->；
wherein ,
，/>，/>，/>。
preferably, the three-dimensional point cloud generating unit generates the three-dimensional point cloud by acquiring the 2 adjacent points respectivelyRespective camera coordinate system and spatial point cloud data of camerasConversion matrix of world coordinate system to realize three-dimensional point +.>And three-dimensional point cloud->Is performed in the first step.
Preferably, the rotation matrix calculation unit calculates the target rotation matrix asAnd the target rotation matrix is +.>Coordinate point->Adopting three-dimensional point cloud->Is defined by the center of gravity of (2);
wherein ,
，
，
；
wherein M is three-dimensional point cloudTotal number of coordinate points>Is a three-dimensional point cloud->The coordinates of the m-th point in (c).
Preferably, the rotation matrix calculation unit calculates the target rotation matrix asAnd the target rotation matrix is +.>Coordinate point->Adopting three-dimensional point cloud->Is defined by the center of gravity of (2);
wherein ,
，
，
；
wherein N is three-dimensional point cloudTotal number of coordinate points>Is a three-dimensional point cloud->The coordinates of the nth point in (c).
Preferably, the angle adjusting unit comprises a camera cradle head, and the 2 adjacent cameras are respectively arranged at the mounting points through the corresponding camera cradle heads.
Preferably, when there is an overlapping region between any one camera and a plurality of cameras, the rotation matrix calculation unit obtains a plurality of rotation matrices of the any one camera based on the corresponding overlapping regions adjacent to each other, and takes the average value of the plurality of rotation matrices as a final target rotation matrix.
In addition, the invention also provides a line construction model, which is provided with a power transmission line point cloud establishing unit and any one of the image monitoring and adjusting systems, wherein the power transmission line point cloud establishing unit is used for realizing space point cloud dataIs provided.
Preferably, the transmission line point cloud establishing unit comprises an unmanned plane and space point cloud dataThe method is obtained through unmanned aerial vehicle aerial photography.
The invention has the following beneficial effects:
1. the image monitoring and adjusting system can be based on space point cloud data of a construction site at firstThe total number of cameras to be deployed and the shooting range of each camera are estimated, and the installation points of all the cameras are estimated, so that the approximate installation positions of any two adjacent cameras are obtained; after all cameras are mounted to the estimated mounting points, strict angle adjustment is not needed, and only the overlapping areas of any two adjacent cameras are divided and acquired by combining the actual mounting positions, so that the acquisition of the actually required space angle of each camera can be realized based on the acquired overlapping areas, and the automatic adjustment of the angle of each camera is further realized;
2. the image monitoring and adjusting system can effectively realize accurate adjustment of shooting angles of each camera, so that the acquisition of the maximum actual monitoring coverage rate can be realized based on the expected required shooting coverage rate. Meanwhile, the system of the invention realizes the adjustment of the shooting angle of a single camera based on the thought that the overlapping area between 2 adjacent cameras should be kept unchanged, so when the position of any camera is changed, the system can realize the self-adaptive adjustment of the shooting angle of any camera based on the preset fixed due overlapping area; this can provide a more stable original image for the next step such as image recognition detection;
3. the provided line construction model can better realize the acquisition of the point cloud data of the power transmission line, can realize the guidance of the deployment of the monitoring system on the construction site based on the acquired point cloud data of the power transmission line, and particularly can better realize the automatic adjustment of the shooting angle of a single camera.
Drawings
Fig. 1 is a schematic layout diagram of an image monitoring adjustment system in embodiment 1.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples. It is to be understood that the examples are illustrative of the present invention and are not intended to be limiting.
Example 1
As shown in fig. 1, the present embodiment provides an image monitoring adjustment system for respectively implementing adjustment of shooting angles of 2 adjacent cameras, which includes:
a point cloud database for storing spatial point cloud data of a construction site；
A three-dimensional point cloud generating unit for generating self-space point cloud dataSpatial point cloud data of overlapping areas of the 2 adjacent cameras are acquired +.>And respectively +.>Transforming into the coordinate system of the 2 adjacent cameras to obtain the coordinate systems respectively corresponding to the 2 adjacent camerasThree-dimensional point cloud->And three-dimensional point cloud->；
A rotation matrix calculation unit for calculating an initial rotation matrix based on the 2 adjacent cameras asThe internal reference matrix is->The initial rotation matrix is +.>And the internal reference matrix is->Acquiring the target rotation matrix of the 2 adjacent cameras as +.>And the target rotation matrix is +.>；
wherein ,
，
；
wherein, coordinate pointIs a three-dimensional point cloud->Any one of the coordinate points->Is a three-dimensional point cloud->Any one of the points;
the target rotation matrix isThe initial rotation matrix is +.>The internal reference matrix is->And three-dimensional point cloud->One of the 2 adjacent cameras;
the target rotation matrix isThe initial rotation matrix is +.>The internal reference matrix is->And three-dimensional point cloud->Another of the 2 adjacent cameras;
and an angle adjusting unit for adjusting the angle of the lensAs course angle and +.>Adjusting the angle of said one of said 2 adjacent cameras as pitch angle to +.>As course angle and +.>And adjusting the angle corresponding to the other angle of the 2 adjacent cameras as a pitch angle.
With the above, the space point cloud data of the construction site can be based firstThe total number of cameras to be deployed and the shooting range of each camera are estimated, and the installation points of all the cameras are estimated, so that the approximate installation positions of any two adjacent cameras are obtained; and after all cameras are mounted to the estimated mounting points, strict angle adjustment is not needed, and only the overlapping areas of any two adjacent cameras are divided and acquired by combining the actual mounting positions, so that the acquisition of the actually required space angle of each camera can be realized based on the acquired overlapping areas, and the automatic adjustment of the angle of each camera is further realized.
Based on the means, the accurate adjustment of the shooting angle of each camera can be effectively realized, so that the acquisition of the maximum actual monitoring coverage rate can be better realized based on the expected required shooting coverage rate. Meanwhile, the system of the invention realizes the adjustment of the shooting angle of a single camera based on the thought that the overlapping area between 2 adjacent cameras should be kept unchanged, so when the position of any camera is changed, the system can realize the self-adaptive adjustment of the shooting angle of any camera based on the preset fixed due overlapping area; this can provide a more stable original image for the next step such as image recognition detection.
In this embodiment, the course angle corresponds to the offset in the horizontal direction, and the pitch angle corresponds to the offset in the vertical direction.
It can be understood that in this embodiment, the segmentation of the overlapping area of any two adjacent cameras can take the minimum dead zone (i.e. the highest coverage rate) as the optimization target, and the existing optimization algorithm is adopted to calculate and obtain the image. This does not relate to the point of improvement of the present invention and is not described too much in this embodiment.
In this embodiment, the 2 adjacent camerasAfter the installation is finished, the initial rotation matrix is obtained through calibration asThe internal reference matrix is->The initial rotation matrix is +.>And the internal reference matrix is->；
wherein ,
，/>，/>，/>。
through the method, after the cameras are installed for the first time, the relevant parameter matrix of each camera can be conveniently obtained through calibration methods such as checkerboard, and therefore the installation position of any camera is not required. It will be appreciated that the transformation matrix of the camera coordinate system and the world coordinate system described below can also be obtained by calibration.
In this embodiment, the three-dimensional point cloud generating unit obtains the camera coordinate system and the spatial point cloud data of each of the 2 adjacent cameras respectivelyConversion matrix of world coordinate system to realize three-dimensional point cloud +.>And three-dimensional point cloud->Is performed in the first step. Thus the three-dimensional point cloud +.>And three-dimensional point cloud->Is performed in the first step.
In this embodiment, the rotation matrix calculation unit calculates the target rotation matrix asAnd the target rotation matrix is +.>Coordinate point->Adopting three-dimensional point cloud->Is defined by the center of gravity of (2);
wherein ,
，
，
；
wherein M is three-dimensional point cloudTotal number of coordinate points>Is a three-dimensional point cloud->The coordinates of the m-th point in (c).
By calculating the rotation matrix based on the center of gravity, the accuracy can be improved better.
In this embodiment, the rotation matrix calculation unit calculates the target rotation matrix asAnd the target rotation matrix is +.>Coordinate point->Adopting three-dimensional point cloud->Is defined by the center of gravity of (2);
wherein ,
，
，
；
wherein N is three-dimensional point cloudTotal number of coordinate points>Is a three-dimensional point cloud->The coordinates of the nth point in (c).
By calculating the rotation matrix based on the center of gravity, the accuracy can be improved better.
In this embodiment, the angle adjustment unit includes the camera cloud platform, 2 adjacent cameras set up in the mounting point department through the camera cloud platform that corresponds respectively. Therefore, the automatic adjustment of the monitoring equipment can be preferably realized.
In this embodiment, when there are overlapping regions between any one camera and a plurality of cameras, the rotation matrix calculation unit obtains a plurality of rotation matrices of the any one camera based on the corresponding overlapping regions adjacent to each other, and takes the average value of the plurality of rotation matrices as the final target rotation matrix. Therefore, the adjustment precision can be improved better.
Example 2
The embodiment provides a line construction model, which is provided with a power transmission line point cloud establishing unit and the image monitoring and adjusting system described in the embodiment 1, wherein the power transmission line point cloud establishing unit is used for realizing space point cloud dataIs provided.
Through the line construction model of the embodiment, the acquisition of the point cloud data of the power transmission line can be preferably realized, the guidance of the deployment of the monitoring system on the construction site can be realized based on the acquired point cloud data of the power transmission line, and particularly, the automatic adjustment of the shooting angle of a single camera can be preferably realized.
In this embodiment, the power transmission line point cloud establishing unit includes an unmanned plane and spatial point cloud dataThe method is obtained through unmanned aerial vehicle aerial photography. Thus, the space point cloud data +.>Is performed in the first step.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (9)
1. The image monitoring adjustment system is used for respectively realizing adjustment of shooting angles of 2 adjacent cameras, and is characterized by comprising:
a point cloud database for storing spatial point cloud data of a construction site；
A three-dimensional point cloud generating unit for generating self-space point cloud dataSpatial point cloud data of overlapping areas of the 2 adjacent cameras are acquired +.>And respectively +.>Transforming into the coordinate system of the 2 adjacent cameras to obtain three-dimensional point clouds respectively corresponding to the 2 adjacent cameras>And three-dimensional point cloud->；
A rotation matrix calculation unit for calculating an initial rotation matrix based on the 2 adjacent cameras asThe internal reference matrix is->The initial rotation matrix is +.>And internal reference momentThe matrix is->Acquiring the target rotation matrix of the 2 adjacent cameras as +.>And the target rotation matrix is +.>；
wherein ,
，
；
wherein, coordinate pointIs a three-dimensional point cloud->Any one of the coordinate points->Is a three-dimensional point cloud->Any one of the points;
the target rotation matrix isThe initial rotation matrix is +.>The internal reference matrix is->And three-dimensional point cloud->One of the 2 adjacent cameras;
the target rotation matrix isThe initial rotation matrix is +.>The internal reference matrix is->And three-dimensional point cloud->Another of the 2 adjacent cameras;
and an angle adjusting unit for adjusting the angle of the lensAs course angle and +.>Adjusting the angle of said one of said 2 adjacent cameras as pitch angle to +.>As course angle and +.>And adjusting the angle corresponding to the other angle of the 2 adjacent cameras as a pitch angle.
2. The image monitoring adjustment system of claim 1, wherein: after the installation of the 2 adjacent cameras is finished, the initial rotation matrix is obtained through calibration asThe internal reference matrix is->The initial rotation matrix is +.>And the internal reference matrix is->；
wherein ,
，/>，/>，/>。
3. the image monitoring adjustment system of claim 1, wherein: the three-dimensional point cloud generating unit respectively acquires the respective camera coordinate systems and the spatial point cloud data of the 2 adjacent camerasConversion matrix of world coordinate system to realize three-dimensional point cloud +.>And three-dimensional point cloud->Is performed in the first step.
4. The image monitoring adjustment system of claim 1, wherein: rotatingThe matrix calculating unit calculates the target rotation matrix asAnd the target rotation matrix is +.>Coordinate point->Adopting three-dimensional point cloud->Is defined by the center of gravity of (2);
wherein ,
，
，
；
wherein M is three-dimensional point cloudTotal number of coordinate points>Is a three-dimensional point cloud->The coordinates of the m-th point in (c).
5. The image monitoring adjustment system according to claim 1 or 4, characterized in that: the rotation matrix calculating unit calculates the target rotation matrix asAnd the target rotation matrix is +.>Coordinate point->Adopting three-dimensional point cloud->Is defined by the center of gravity of (2);
wherein ,
，
，
；
wherein N is three-dimensional point cloudTotal number of coordinate points>Is a three-dimensional point cloud->The coordinates of the nth point in (c).
6. The image monitoring adjustment system of claim 1, wherein: the angle adjusting unit comprises a camera cradle head, and the 2 adjacent cameras are arranged at the mounting point through the corresponding camera cradle heads.
7. The image monitoring adjustment system of claim 1, wherein: when an overlapping area exists between any camera and a plurality of cameras, the rotation matrix calculation unit respectively acquires a plurality of rotation matrices of any camera based on the corresponding overlapping areas adjacent to each other, and takes the average value of the plurality of rotation matrices as a final target rotation matrix.
8. The line construction model, its characterized in that: the system comprises a power transmission line point cloud establishment unit and an image monitoring and adjusting system according to any one of claims 1 to 7, wherein the power transmission line point cloud establishment unit is used for realizing space point cloud dataIs provided.
9. The line construction model according to claim 8, wherein: the power transmission line point cloud establishment unit comprises an unmanned plane and space point cloud dataThe method is obtained through unmanned aerial vehicle aerial photography.
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