CN-122027769-A - Camera target tracking and monitoring method and system based on three-dimensional positioning

CN122027769ACN 122027769 ACN122027769 ACN 122027769ACN-122027769-A

Abstract

The invention provides a camera target tracking monitoring method and system based on three-dimensional positioning, which are used for determining space deviation change information of a target object and a camera based on the three-dimensional positioning information of the target object and the camera so as to judge whether the target object is separated from a monitoring view field range, adjusting the tracking shooting action of the camera on the target object based on the motion track of the target object when the target object is not separated from the monitoring view field range, adjusting the searching shooting action of the camera on the area where the target object is located based on the azimuth information of the target object relative to the camera when the target object is separated from the monitoring view field range, synchronously carrying out three-dimensional positioning on the target object and the camera, providing accurate basis for tracking monitoring of the camera based on the three-dimensional positioning information of the target object and the camera, ensuring that the camera can still search the target object again by means of the three-dimensional positioning information after the target object is lost in the visual layer tracking, and improving the tracking monitoring reliability and reproducibility of the camera on the target object.

Inventors

YU DAN
WANG DANXING
JIANG ZHENG

Assignees

慧之安信息技术股份有限公司

Dates

Publication Date: 20260512
Application Date: 20251225

Claims (10)

1. The camera target tracking and monitoring method based on three-dimensional positioning is characterized by comprising the following steps of: Determining space deviation change information between a target object and a camera based on respective three-dimensional positioning information of the target object and the camera; When the target object does not deviate from the monitoring view field range, determining a motion track of the target object based on the three-dimensional positioning information of the target object; And when the target object is separated from the monitoring view field range, determining the azimuth information of the target object relative to the camera based on the three-dimensional positioning information of the target object, and adjusting the searching shooting action of the camera on the area where the target object is located based on the azimuth information.
2. The camera target tracking and monitoring method based on three-dimensional positioning according to claim 1, wherein: Determining spatial deviation change information between a target object and a camera based on respective three-dimensional positioning information of the target object and the camera, and judging whether the current motion of the target object is separated from the monitoring view field range of the camera based on the spatial deviation change information, wherein the method comprises the following steps: Performing time synchronization processing on three-dimensional positioning information of a target object and a camera to obtain a first three-dimensional positioning information stream and a second three-dimensional positioning information stream with synchronous time axes, comparing the first three-dimensional positioning information stream with the second three-dimensional positioning information stream, and determining space deviation change information between the target object and the camera, wherein the space deviation change information comprises relative space distance change information and relative space azimuth change information; Mapping the spatial deviation change information to a shooting spatial coordinate system of the camera to obtain relative position change information of the target object and a monitoring view field boundary of the camera; and judging whether the current movement of the target object is separated from the monitoring view field range of the camera or not based on the relative position change information.
3. The camera target tracking and monitoring method based on three-dimensional positioning according to claim 1, wherein: And when the target object does not deviate from the monitoring view field range, determining a motion track of the target object based on the three-dimensional positioning information of the target object, and adjusting the tracking shooting action of the camera on the target object based on the motion track, wherein the method comprises the following steps: when the target object does not deviate from the monitoring view field range, carrying out evolution fitting on the three-dimensional positioning information of the target object when the position of the three-dimensional space is changed, and determining the motion trail of the target object; And adjusting a zoom parameter of tracking shooting of the target object by the camera and a shooting view field central axis azimuth parameter based on the distance and azimuth offset change information.
4. The camera target tracking and monitoring method based on three-dimensional positioning according to claim 1, wherein: when the target object is separated from the monitoring view field range, determining the azimuth information of the target object relative to the camera based on the three-dimensional positioning information of the target object, and adjusting the searching shooting action of the camera on the area where the target object is located based on the azimuth information, wherein the searching shooting action comprises the following steps: When the target object is separated from the monitoring view field range, comparing the three-dimensional positioning information of the target object with the three-dimensional positioning information of the camera in a world coordinate system, and determining azimuth angle information of the target object relative to the camera; and adjusting the scanning action displacement and direction of the camera for searching and shooting the area where the target object is located based on the azimuth deviation information.
5. The camera target tracking and monitoring method based on three-dimensional positioning according to claim 4, wherein: Based on the azimuth deviation information, adjusting the scanning action displacement of the camera for searching and shooting the area where the target object is located, including: The method comprises the steps of calling an actual horizontal field angle of a current camera and a scene fine adjustment coefficient, wherein the value range of the scene fine adjustment coefficient is 0.8-1.2; calling a corresponding preset horizontal view angle reference value when the camera is initialized; setting a field adaptation coefficient by combining an actual horizontal field angle of the current camera with a scene fine adjustment coefficient and a preset horizontal field angle reference value; The field adaptation coefficient is obtained through the following formula: And, in addition, the method comprises, The method comprises the steps of k representing a field adaptation coefficient, theta 0 representing a preset horizontal view angle reference value, theta representing an actual horizontal view angle of a current camera, x representing a scene fine adjustment coefficient, P representing a deviation percentage corresponding to azimuth deviation, delta theta 0 representing a preset azimuth deviation threshold value, delta theta representing an azimuth deviation value; A reference displacement adjustment gradient G w of a preset scanning motion displacement is called; The on-site adaptation coefficient is utilized to adjust the reference displacement adjustment gradient G w , and the adjusted displacement adjustment gradient G wt is obtained; the adjusted displacement adjustment gradient G wt is obtained by the following formula: wherein, G wt represents the adjusted displacement adjustment gradient, G w represents the preset reference displacement adjustment gradient of the scanning movement displacement, delta theta 0 represents the preset azimuth deviation threshold value, delta theta represents the azimuth deviation value, x represents the scene fine adjustment coefficient, k represents the scene adaptation coefficient; And adjusting the scanning motion displacement of the camera for searching and shooting the area where the target object is located according to the adjusted displacement adjustment gradient G wt .
6. Camera target tracking monitored control system based on three-dimensional location, its characterized in that includes: The three-dimensional positioning identification module is used for determining spatial deviation change information between the target object and the camera based on the respective three-dimensional positioning information of the target object and the camera; The target object state judging module is used for judging whether the current movement of the target object is separated from the monitoring view field range of the camera or not based on the spatial deviation change information; The motion trail determining module is used for determining the motion trail of the target object based on the three-dimensional positioning information of the target object when the target object does not deviate from the monitoring view field range; the tracking shooting action adjusting module is used for adjusting the tracking shooting action of the camera on the target object based on the motion trail; The relative azimuth information module is used for determining azimuth information of the target object relative to the camera based on the three-dimensional positioning information of the target object when the target object is separated from the monitoring view field range; And the searching shooting action adjusting module is used for adjusting the searching shooting action of the camera on the area where the target object is located based on the azimuth information.
7. The three-dimensional positioning-based camera target tracking monitoring system of claim 6, wherein: The three-dimensional positioning identification module is used for determining spatial deviation change information between a target object and a camera based on respective three-dimensional positioning information of the target object and the camera, and comprises the following steps: Performing time synchronization processing on three-dimensional positioning information of a target object and a camera to obtain a first three-dimensional positioning information stream and a second three-dimensional positioning information stream with synchronous time axes, comparing the first three-dimensional positioning information stream with the second three-dimensional positioning information stream, and determining space deviation change information between the target object and the camera, wherein the space deviation change information comprises relative space distance change information and relative space azimuth change information; the target object state judging module is configured to judge, based on the spatial deviation change information, whether the current motion of the target object is out of the monitoring field of view range of the camera, and includes: Mapping the spatial deviation change information to a shooting spatial coordinate system of the camera to obtain relative position change information of the target object and a monitoring view field boundary of the camera; and judging whether the current movement of the target object is separated from the monitoring view field range of the camera or not based on the relative position change information.
8. The three-dimensional positioning-based camera target tracking monitoring system of claim 6, wherein: The motion trail determination module is configured to determine, based on three-dimensional positioning information of the target object, a motion trail of the target object when the target object does not deviate from the monitoring field of view range, including: when the target object does not deviate from the monitoring view field range, carrying out evolution fitting on the three-dimensional positioning information of the target object when the position of the three-dimensional space is changed, and determining the motion trail of the target object; The tracking shooting action adjusting module is used for adjusting the tracking shooting action of the camera on the target object based on the motion trail, and comprises the following steps: And adjusting a zoom parameter of tracking shooting of the target object by the camera and a shooting view field central axis azimuth parameter based on the distance and azimuth offset change information.
9. The three-dimensional positioning-based camera target tracking monitoring system of claim 6, wherein: The relative azimuth information module is configured to determine azimuth information of the target object relative to the camera based on three-dimensional positioning information of the target object when the target object is out of the monitoring field of view, and includes: When the target object is separated from the monitoring view field range, comparing the three-dimensional positioning information of the target object with the three-dimensional positioning information of the camera in a world coordinate system, and determining azimuth angle information of the target object relative to the camera; The search shooting action adjusting module is configured to adjust a search shooting action of the camera on an area where the target object is located based on the azimuth information, and includes: and adjusting the scanning action displacement and direction of the camera for searching and shooting the area where the target object is located based on the azimuth deviation information.
10. The three-dimensional positioning-based camera target tracking monitoring system of claim 9, wherein: Based on the azimuth deviation information, adjusting the scanning action displacement of the camera for searching and shooting the area where the target object is located, including: The method comprises the steps of calling an actual horizontal field angle of a current camera and a scene fine adjustment coefficient, wherein the value range of the scene fine adjustment coefficient is 0.8-1.2; calling a corresponding preset horizontal view angle reference value when the camera is initialized; setting a field adaptation coefficient by combining an actual horizontal field angle of the current camera with a scene fine adjustment coefficient and a preset horizontal field angle reference value; The field adaptation coefficient is obtained through the following formula: And, in addition, the method comprises, The method comprises the steps of k representing a field adaptation coefficient, theta 0 representing a preset horizontal view angle reference value, theta representing an actual horizontal view angle of a current camera, x representing a scene fine adjustment coefficient, P representing a deviation percentage corresponding to azimuth deviation, delta theta 0 representing a preset azimuth deviation threshold value, delta theta representing an azimuth deviation value; A reference displacement adjustment gradient G w of a preset scanning motion displacement is called; The on-site adaptation coefficient is utilized to adjust the reference displacement adjustment gradient G w , and the adjusted displacement adjustment gradient G wt is obtained; the adjusted displacement adjustment gradient G wt is obtained by the following formula: wherein, G wt represents the adjusted displacement adjustment gradient, G w represents the preset reference displacement adjustment gradient of the scanning movement displacement, delta theta 0 represents the preset azimuth deviation threshold value, delta theta represents the azimuth deviation value, x represents the scene fine adjustment coefficient, k represents the scene adaptation coefficient; And adjusting the scanning motion displacement of the camera for searching and shooting the area where the target object is located according to the adjusted displacement adjustment gradient G wt .

Description

Camera target tracking and monitoring method and system based on three-dimensional positioning Technical Field The invention relates to the field of visual monitoring, in particular to a camera target tracking and monitoring method and system based on three-dimensional positioning. Background The video monitoring is carried out on a large-area operation place to timely and accurately monitor the action state of a target object, but in the actual video monitoring process, the target object can not be continuously monitored by shielding interference of objects such as buildings or trees in the operation place, and even the problems of tracking loss of the target object and the like can occur. The tracking shooting of the existing camera to the target object is realized based on the outline of the target object, once the target object is separated from the monitoring view field range of the camera, the target object cannot be searched again, and the tracking monitoring reliability and reproducibility of the camera to the target object are reduced. At present, the tracking and monitoring of the camera to the target object is limited to a visual identification layer, the problem of repositioning and monitoring the target object under the condition of losing the visual monitoring cannot be solved, the problem of interruption of monitoring the target object is easy to occur, and the controllability of the tracking and monitoring of the camera target is reduced. Disclosure of Invention The invention aims to provide a camera target tracking monitoring method and a camera target tracking monitoring system based on three-dimensional positioning, which are based on three-dimensional positioning information of a target object and a camera, determine spatial deviation change information of the target object and the camera, so as to judge whether the target object is separated from a monitoring view field range, adjust tracking shooting actions of the camera on the target object based on a motion track of the target object when the target object is not separated from the monitoring view field range, adjust searching shooting actions of the camera on an area where the target object is located based on azimuth information of the target object relative to the camera when the target object is separated from the monitoring view field range, and provide accurate basis for tracking monitoring of the camera by taking the three-dimensional positioning information of the target object and the camera as a reference, ensure that the camera can still search the target object again by means of the three-dimensional positioning information after tracking the lost target object on a visual level, improve tracking monitoring reliability and reproducibility of the target object, and provide accurate reference basis for tracking monitoring of the camera on the spatial positioning level. The invention is realized by the following technical scheme: a camera target tracking and monitoring method based on three-dimensional positioning comprises the following steps: Determining space deviation change information between a target object and a camera based on respective three-dimensional positioning information of the target object and the camera; When the target object does not deviate from the monitoring view field range, determining a motion track of the target object based on the three-dimensional positioning information of the target object; And when the target object is separated from the monitoring view field range, determining the azimuth information of the target object relative to the camera based on the three-dimensional positioning information of the target object, and adjusting the searching shooting action of the camera on the area where the target object is located based on the azimuth information. Optionally, determining spatial deviation change information between the target object and the camera based on respective three-dimensional positioning information of the target object and the camera, and determining whether the current motion of the target object is out of the monitoring field of view range of the camera based on the spatial deviation change information comprises: Performing time synchronization processing on three-dimensional positioning information of a target object and a camera to obtain a first three-dimensional positioning information stream and a second three-dimensional positioning information stream with synchronous time axes, comparing the first three-dimensional positioning information stream with the second three-dimensional positioning information stream, and determining space deviation change information between the target object and the camera, wherein the space deviation change information comprises relative space distance change information and relative space azimuth change information; Mapping the spatial deviation change information to a shooting spatial coordinate system of the camera to obtain relati