CN-121977509-A - Image pickup device and target position acquisition method

Abstract

The application provides an imaging device and a target position acquisition method. The camera device acquires the geodetic coordinate information of the camera, the pitch angle information and the direction angle information of the camera through the GPS and the inertial sensing device, calculates the relative position of a target point and a central optical axis of the camera in a picture acquired by the camera, and calculates the geodetic coordinate information of the target point by taking the geodetic coordinate information of the camera as a coordinate origin. According to the application, the geodetic coordinate information with higher accuracy can be obtained without special calibration of the equipment. And moreover, the whole calculated amount is small, the calculating device can be integrated in the camera, so that the time delay is further reduced, and the instantaneity of acquiring the geodetic coordinate information of the target point is improved. Furthermore, the application has lower complexity requirement on the whole system, and can reduce the deployment cost and the delivery difficulty of the whole system.

Inventors

• LI JIANZHANG
• ZHANG YUWEI
• CHEN XIAOLU

Assignees

• 华为技术有限公司

Dates

Publication Date

20260505

Application Date

20241031

Claims (18)

1. 1. An image pickup apparatus, comprising: The lens module is used for acquiring a monitoring picture; The sensing module is used for acquiring geodetic coordinate information, azimuth angle information and pitch angle information of the image pickup device at a first moment; A processing module for identifying the target point in the monitoring picture and determining the geodetic coordinate information of the target point according to the information acquired by the sensing module, wherein, The first time includes a time at which the target point is identified.
2. 2. The apparatus of claim 1, wherein the device comprises a plurality of sensors, The first included angle is formed between the sensing module and the central optical axis of the lens module, and the coordinate system of the sensing module is consistent with that of the lens module.
3. 3. The apparatus of claim 2, wherein the device comprises a plurality of sensors, The first included angle is an integer multiple of 90 degrees.
4. 4. The device according to claim 1 to 3, wherein the sensor module comprises a gyroscope and/or an electronic compass, wherein, The gyroscope is used for acquiring the azimuth information of the camera device, wherein the azimuth information comprises an offset angle between the lens module and the earth magnetic field; The electronic compass is used for acquiring the pitch angle information of the camera device, and the pitch angle information comprises an included angle between the lens module and the horizontal plane.
5. 5. The device according to any one of claims 1 to 4, wherein, The azimuth angle information and/or the pitch angle information acquired by the sensing module are consistent with the coordinate system of the lens module.
6. 6. The device according to any one of claims 1 to 5, wherein, The sensing module comprises an electronic compass, and the perpendicular line of the electronic compass is perpendicular to the horizontal plane.
7. 7. The device according to any one of claims 1 to 6, wherein, And the azimuth angle information, the pitch angle information and/or the geodetic coordinate information of the target point are displayed on the monitoring picture in a superposition mode.
8. 8. The apparatus according to any one of claims 1 to 7, wherein the geodetic information of the target point is determined, The processing module is used for determining the relative positions of the target point and the camera device according to the azimuth angle information and the pitch angle information; the processing module is further configured to determine geodetic coordinate information of the target point based on geodetic coordinate information of the imaging device.
9. 9. A target position acquisition method, characterized by comprising: Acquiring a target point in a monitoring picture, and sending first indication information, wherein the first indication information is used for indicating a sensing module to acquire first data information; Acquiring first data information, wherein the first data information comprises geodetic coordinate information, azimuth angle information and pitch angle information of an imaging device at a first moment; determining the geodetic coordinate information of the target point according to the first data information, wherein, The first time comprises a time of determining the target point.
10. 10. The method of claim 9, wherein the geodetic information of the target point is determined, Determining the relative position of the target point and the camera device according to the azimuth angle information and the pitch angle information; And determining the geodetic coordinate information of the target point according to the geodetic coordinate information of the image pickup device.
11. 11. The method according to claim 9 or 10, further comprising, prior to transmitting the first indication information: transmitting monitoring picture data; First target point information is received, wherein the first target point information is used for indicating a target point in the monitoring picture.
12. 12. The method according to any one of claims 9 to 11, wherein, The azimuth angle information comprises an offset angle of a central optical axis of the image pickup device and an earth magnetic field, and the pitch angle information comprises an included angle of the central optical axis of the image pickup device and a horizontal plane.
13. 13. The method according to any one of claims 9 to 12, wherein, And the azimuth angle information and/or the pitch angle information in the first data information are consistent with a coordinate system of a central optical axis of the image pickup device.
14. 14. The method according to any one of claims 9 to 13, wherein, And the azimuth angle information, the pitch angle information and/or the geodetic coordinate information of the target point are displayed on the monitoring picture in a superposition mode.
15. 15. A computer readable storage medium for storing a computer program which, when run on a computer, causes the computer to perform the method of any one of claims 9 to 14.
16. 16. A computer program product, characterized in that the computer program product, when run on a computer, causes the computer to perform the method of any of claims 9 to 14.
17. 17. A chip system, characterized in that the chip system comprises a processor and a memory, the memory is used for storing a computer program, the processor is used for executing the computer program stored in the memory, To cause the processor to perform the method of any one of claims 9 to 14.
18. 18. An image capturing apparatus for acquiring a monitoring screen and determining geodetic information of a target point in the monitoring screen, comprising means or units for performing the method of any of claims 9 to 14.

Description

Image pickup device and target position acquisition method Technical Field The present application relates to the field of video surveillance, and more particularly, to an image capturing apparatus and a target position acquisition method. Background In the field of video monitoring, acquiring geodetic coordinate information of a target point in an image is critical to achieving accurate positioning, quick response and effective monitoring. With the development of technology, video monitoring systems are advancing to the intelligent video monitoring era, not only providing pictures with higher definition, but also realizing functions of remote monitoring, intelligent analysis and the like, and greatly improving the monitoring efficiency and range. However, there are still some limitations and problems in the development in the technical direction of acquiring the geodetic information of an image. Accurate positioning can cause problems such as high computational overhead, high complexity of computing equipment, and the like. When the coordinate computing device is integrated in the front-end monitoring device, the size of the front-end device can be increased, and the use scene is limited. When the coordinate computing device is placed at the rear end of a machine room and the like, the front-end monitoring device is required to transmit back relevant data such as images and the like in real time, and then coordinate acquisition is carried out, so that a certain time delay exists, and the instantaneity is poor. Therefore, how to obtain more accurate geodetic coordinate information of the target point with smaller calculation overhead is a technical problem that needs to be solved by those skilled in the art. Disclosure of Invention The application provides an image pickup device and a target position acquisition method, wherein a global positioning system (Global Positioning System, GPS) and an inertial sensing device are mounted on a camera, the GPS is used for acquiring the geodetic coordinate information of the camera, and the inertial sensing device is used for acquiring the pitch angle and the direction angle of the camera. And calculating the relative position of the target point and the central optical axis of the camera in the picture acquired by the camera, and calculating the geodetic coordinate information of the target point by taking the geodetic coordinate information of the camera as a coordinate origin. According to the application, the geodetic coordinate information with higher accuracy can be obtained without special calibration of the equipment. And moreover, the whole calculated amount is small, the calculating device can be integrated in the camera, so that the time delay is further reduced, and the instantaneity of acquiring the geodetic coordinate information of the target point is improved. Furthermore, the application has lower complexity requirement on the whole system, and can reduce the deployment cost and the delivery difficulty of the whole system. It should be appreciated that in some specific implementations, the geodetic coordinate information of the camera itself is obtained by mounting a chinese beidou positioning system on the camera. In a first aspect, an image pickup apparatus is provided. The image pickup device is used for acquiring a monitoring picture and determining the geodetic coordinate information of a target point in the monitoring picture. The image pickup device comprises a lens module for acquiring a monitoring picture. The camera device also comprises a sensing module which is used for acquiring the geodetic coordinate information, the azimuth angle information and the pitch angle information of the camera device at the first moment. The camera device also comprises a processing module which is used for identifying the target point in the monitoring picture and determining the geodetic coordinate information of the target point according to the information acquired by the sensing module. Wherein the first time instant comprises a time instant at which the target point is identified. Based on the technical scheme, the sensing module is mounted on the image pickup device to acquire the geodetic coordinate information of the image pickup device, the image pickup device recognizes the pitch angle information and the azimuth angle information of the target point moment, and the geodetic coordinate information of the image pickup device is taken as the origin of coordinates to calculate the geodetic coordinate information of the target point. According to the application, the geodetic coordinate information with higher accuracy can be obtained without special calibration of the equipment. And moreover, the whole calculated amount is small, the calculating device can be integrated in the camera, so that the time delay is further reduced, and the instantaneity of acquiring the geodetic coordinate information of the target point is improved. Furthermore, the appli