CN103595963A - Multi-vidicon video monitoring system and moving target tracking device and method - Google Patents
Multi-vidicon video monitoring system and moving target tracking device and method Download PDFInfo
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Abstract
The invention provides a multi-vidicon video monitoring system and a moving target tracking device and method. The moving target tracking device is applied to terminal equipment in the multi-vidicon video monitoring system. The device comprises a measuring and calculating processing unit used for obtaining the direction vector of vidicons, a central switching unit used for setting a designated vidicon as a central vidicon and switching video images of the central vidicon to a central windowpane of a preset display area, and a video arrangement unit used for arraying video images of vidicons adjacent to the central vidicon to peripheral windowpanes corresponding to angle value in the preset display area according to the the angle value of the vidicons, adjacent to the central vidicon, relative to the directional vector of the central vidicon. The multi-vidicon video monitoring system and the moving target tracking device and method can bring great convenient to a user to find out next target vidicon in multiple vidicons.
Description
Technical field
The present invention relates to technical field of video monitoring, the multiple-camera video monitoring system that relates in particular to a kind of moving target follow-up mechanism, moving target method for tracing and apply this moving target follow-up mechanism.
Background technology
Video monitoring is the important component part of safety and protection system, and along with the develop rapidly of the technology such as computer, network service and image processing, Video Supervision Technique has also had significant progress.At present, Video Supervision Technique has been widely used among every field, more especially fields such as public safety, emergency command.
Conventionally, user can check the image that in video monitoring system, each front-end camera collects at terminal equipment.And under a lot of application scenarioss, user may need tracked mobile target (such as people or vehicle etc.); For example, commander or accident are reviewed under application scenarios at the scene, and first, user need to select a video camera on map, and has access to the video camera of selected video camera periphery simultaneously; Then, user need to find a video camera that occurs this moving target, is appointed as center camera, and the video image of center camera is presented to central pane; When target soon shifts out this video camera overlay area, user needs according to the video image that examines a plurality of neighbours' shootings that are positioned at this video camera periphery, until find that moving target occurs in the video image of a certain video camera, could be set to new center camera by this video camera, again the video image of center camera is switched to central pane, so repeatedly carry out and just can complete the tracking to moving target, until the place that user stops following the trail of or moving target moves to does not belong to the coverage of any one video camera.
In prior art, because needs user comforms in multiple-camera by hand, find out next target video camera and then recall image, the process of finding out next target video camera expends time in long and easily makes mistakes, if user's error in operation, or unskilled or supervisory control system topology is unfamiliar with, be easy to cause with losing moving target.
Summary of the invention
In view of this, the multiple-camera video monitoring system that the invention provides a kind of moving target follow-up mechanism, moving target method for tracing and apply this moving target follow-up mechanism, for facilitating user's multiple-camera of comforming to find out next target video camera.
Concrete, described moving target follow-up mechanism, is applied on the terminal equipment in multiple-camera video monitoring system; Described device comprises:
Measuring and calculating processing unit, for obtaining the pointing vector of video camera;
Center switch unit, is set to center camera for the video camera of appointment, and the video image of described center camera is switched to the central pane of predetermined display area;
The video unit of arranging, for the angle value with respect to described center camera pointing vector according to neighbours' video camera of described center camera, the video image of neighbours' video camera of described center camera is arranged in periphery pane corresponding with described angle value in described predetermined display area.
Described moving target method for tracing, is applied on the terminal equipment in multiple-camera video monitoring system; It is characterized in that, described method comprises step:
S1. obtain the pointing vector of video camera;
S2. the video camera of appointment is set to center camera, and the video image of described center camera is switched to the central pane of predetermined display area;
S3. the angle value with respect to described center camera pointing vector according to neighbours' video camera of described center camera, is arranged in the video image of neighbours' video camera of described center camera in periphery pane corresponding with described angle value in described predetermined display area.
Described multiple-camera video monitoring system, comprises above-mentioned moving target follow-up mechanism.
From above technical scheme, the present invention is by obtaining the pointing vector of video camera; And according to neighbours' video camera of center camera the angle value with respect to center camera pointing vector, the video image of neighbours' video camera of center camera is arranged in periphery pane corresponding with angle value in predetermined display area, when moving target moves to next target video camera from center camera, the moving direction that user follows moving target is naturally switched to next video camera, and this video camera is the next video camera that moving target occurs; Therefore, the present invention can facilitate user to comform in multiple-camera to find out next target video camera greatly.
Accompanying drawing explanation
Shown in Fig. 1, be that a kind of video camera is laid schematic diagram;
It shown in Fig. 2, is the video image of a kind of video camera in the prior art schematic diagram of arranging;
Fig. 3 is the structural representation of a kind of moving target follow-up mechanism in an embodiment of the present invention;
Fig. 4 is the schematic flow sheet of a kind of moving target method for tracing in an embodiment of the present invention;
Fig. 5 is camera points schematic vector diagram;
Fig. 6 is that in one embodiment of the present invention, a kind of neighbours' video camera calculates schematic diagram with respect to the angle value of center camera pointing vector;
Fig. 7 is a kind of video image of video camera schematic diagram of arranging in one embodiment of the present invention;
Fig. 8 is the video image of the another kind of video camera schematic diagram of arranging in one embodiment of the present invention;
Fig. 9 is the video image of the another kind of video camera schematic diagram of arranging in one embodiment of the present invention;
Figure 10 is a kind of multiple-camera video monitoring system configuration diagram in one embodiment of the present invention.
Embodiment
In video monitoring decoding software, pane display mode is used.So-called pane is an image display window on video monitoring image decoding software interface.On the viewing area of software, can show as required a plurality of panes, each pane shows the video image from certain video camera Yi road real time video image or historical playback simultaneously.Many panes show can observe the image that multichannel camera acquisition arrives by assisting users on a viewing area simultaneously, and this has application comparatively widely in fields such as traffic administration and security protections.It should be noted that, said predetermined display area of the present invention can be an independently physical screen, also can be the screen that a plurality of physical screens are spliced, can also be a part for a separate physical screen, and the present invention does not limit the relation between predetermined display area and physical screen.
In prior art, on the terminal equipment in multiple-camera video monitoring system, normally according to camera number order or show the video image of each video camera in pane according to the physical location of each video camera; For example, shown in Fig. 1, be the physical location schematic diagram of each video camera, wherein, video camera C3 is designated as center camera, neighbours' video camera of video camera centered by video camera C1, video camera C2, video camera C4 and video camera C5; Shown in Fig. 2, for show the schematic diagram of the video image of each video camera in predetermined display area according to the physical location of each video camera, corresponding, the video image of video camera C3 shows in central pane; The physical location of video camera C1 is positioned at the upper left side of video camera C3, so the video pane of video camera C1 is presented at the upper left side of central pane; The physical location of video camera C5 is positioned at the lower right of video camera C3, so the video pane of video camera C5 is presented at the lower right of central pane; In like manner can calculate the position of the pane that other camera video image is corresponding.
When carrying out moving target tracking, user observes moving target and is moving forward in video camera C3, and As time goes on, can move out gradually the coverage of video camera C3; Now, user need to examine the video image of each neighbours' video camera of video camera C3, until find that moving target occurs in a certain video camera, this video camera could be appointed as to center camera.
The present invention, in order to address the above problem, provides a kind of moving target follow-up mechanism and moving target method for tracing, and as shown in Fig. 3 and Fig. 4, this moving target follow-up mechanism is applied on the terminal equipment in multiple-camera video monitoring system; It mainly comprises measuring and calculating processing unit, center switch unit and the video unit etc. of arranging; Corresponding moving target method for tracing mainly comprises step with it:
Measuring and calculating processing unit obtains the pointing vector of video camera;
The video camera of center switch unit appointment is set to center camera, and the video image of described center camera is switched to the central pane of predetermined display area;
Video arrange unit according to neighbours' video camera of described center camera the angle value with respect to described center camera pointing vector, the video image of neighbours' video camera of described center camera is arranged in periphery pane corresponding with described angle value in described predetermined display area;
Fig. 5 has provided the schematic diagram of pointing vector; In the present embodiment, the pointing vector of specifying arbitrarily video camera is determined by the horizontal direction rotational angle of this video camera.
When moving target moves to next target video camera from center camera, the moving direction that user follows moving target is naturally switched to next video camera, and this video camera is the next video camera that moving target occurs; Therefore, the present invention can facilitate user to comform in multiple-camera to find out next target video camera greatly.
Below in conjunction with example and accompanying drawing, the moving target follow-up mechanism in the present embodiment and moving target method for tracing are described in detail.
First, for any appointment video camera, the video camera that the distance between configuration and described appointment video camera is not more than predeterminable range value is neighbours' video camera of described appointment video camera; Be understandable that, this step is not essential; For example, while being pre-stored with the neighborhood between each video camera in terminal equipment, needn't carry out the configuration of neighbours' video camera.When user carries out moving target tracking, first need on map, select a video camera as center camera, and have access to the neighbours' video camera with center camera simultaneously; For example, as shown in fig. 1, after selecting video camera C3 as center camera, have access to the neighbours' video camera with video camera C3 simultaneously.
Wherein, the distance between video camera can be determined according to the latitude and longitude value of video camera; For example, the latitude and longitude value of known two video cameras is respectively (Lat1, Lng1) and (Lat2, Lng2), and earth radius is 6378.137; The distance s computing formula between two video cameras is as follows:
Wherein, a=Lat1 – Lat2, is the poor of two video camera latitudes; B=Lng1-Lng2 is the poor of two video camera longitudes; The result unit of calculating is rice.
Azimuth between video camera can be determined according to the latitude and longitude value of video camera equally; For example, the latitude and longitude value of known two video cameras is respectively (Lat1, Lng1) and (Lat2, Lng2), and earth radius is 6378.137; The azimuth d computing formula between two video cameras is as follows:
After the distance and azimuth information that calculate between video camera, obtained position relationship between video camera.
Obtain the position for video camera postpone of center camera periphery, need to obtain the pointing vector of each video camera; In prior art, some video cameras possess sensing feedback function, can feed back the pointing vector of self, and some video cameras are arranged on The Cloud Terrace and do not possess sensing feedback function, and some video cameras be not both arranged on does not possess sensing feedback function yet on The Cloud Terrace; Therefore, in the present embodiment, for different camera type, be provided with different pointing vector acquisition methods; For example:
First judge whether video camera possesses sensing feedback function:
If described video camera possesses sensing feedback function, directly read the pointing vector of video camera feedback; Otherwise, judge whether described video camera is arranged on The Cloud Terrace:
If video camera is not arranged on The Cloud Terrace, directly read the pointing vector numerical value that also recording user is this camera calibration;
If video camera is arranged on The Cloud Terrace, according to the rotational angle of the predetermined directional beacon definite value of described video camera and The Cloud Terrace, calculate the pointing vector of video camera; For example:
First need the predetermined sensing (for example positive north is pointed to) to video camera to demarcate, control The Cloud Terrace rotation, the sensing of video camera is aimed to described predetermined sensing, and record level, the vertical angle of current The Cloud Terrace; When camera points changes, video camera reads the current angle of The Cloud Terrace, and in conjunction with the predetermined directional beacon definite value of video camera, calculates the pointing vector of current video camera.
Moving target follow-up mechanism in the present embodiment also comprises pane preparatory unit, pane preparatory unit, according to the number of neighbours' video camera of described center camera, is prepared respective number for the periphery pane of the video image of neighbours' video camera of display centre video camera at described central pane periphery.For example, as shown in Fig. 7 and Fig. 9, neighbours' video camera of center camera is 4, at central pane periphery, prepares 4 periphery panes for the video image of neighbours' video camera of display centre video camera.
After being ready to periphery pane, video arrange unit according to neighbours' video camera of described center camera the angle value with respect to described center camera pointing vector, the video image of neighbours' video camera of described center camera is arranged in periphery pane corresponding with described angle value in described predetermined display area; For example:
For the video camera as in Fig. 1, lay, first need neighbours' video camera of the video camera C3 of computer center with respect to the angle value d of video camera C3 pointing vector
0; Exemplary, a kind of calculating d is provided in the present embodiment
0method, specifically as shown in Figure 6:
Calculate the angle d with respect to direct north of the pointing vector of video camera C3
c3-N, the azimuth of calculating video camera C3 pointing vector;
Obtain video camera C1 with respect to the azimuth d of video camera C3
c1-C3;
Video camera C1 is d with respect to the angle value of video camera C3 pointing vector
c3-N-d
c1-C3;
Certainly, when other directions of usining outside direct north are as initial azimuth time, neighbours' video camera of center camera carries out corresponding adjustment with respect to the angle value computational methods of center camera pointing vector, does not repeat them here.
According to said method, calculate successively each video camera with respect to the angle value of video camera C3 pointing vector; In order to facilitate following video image to arrange, if relative angle value is less than 0, add 360 degree.
Then,, according to the relative angle value calculating, the pane position of video image of neighbours' video camera CX of center camera C3 is set; For example:
If 000 degree <=relative angle value <090 degree, the video image of corresponding video camera is presented at the upper left side of central pane;
If 090 degree <=relative angle value <180 degree, the video image of corresponding video camera is presented at the lower left of central pane;
If 180 degree <=relative angle value <270 degree, the video image of corresponding video camera is presented at the lower right of central pane;
If 270 degree <=relative angle value <360 degree, the video image of corresponding video camera is presented at the upper right side of central pane;
Finally, when video camera centered by video camera C3, video window grillages cloth result as shown in Figure 7; For example, the video image of video camera C3 shows in central pane; Video camera C5, with respect to the pointing vector of video camera C3, is positioned at the upper left side of video camera C3 pointing vector, so the video image of video camera C5 shows in the upper left periphery pane of central pane.
When user carries out moving target tracking, suppose that moving target moves to left front in the video image of video camera C3; When moving target moves out the video image of video camera C3, in video window grillages cloth result as shown in Figure 7, user can follow the moving direction of moving target, very naturally, observe the video image of video camera C5, and the video image of video camera C5 is the video image of the next video camera of moving target appearance just; Now, user can be appointed as video camera C5 new center camera, and the video camera of center switch unit appointment is set to center camera, and the video image of new center camera C5 is switched to the central pane of predetermined display area; Then, arrange to the video image of neighbours' video camera of video camera C5 again in the video unit of arranging; Specifically as shown in Figure 8.
Due in the moving process of moving target, the guarded region of center camera may change, and variation has occurred the pointing vector of center camera; Therefore, video in the present embodiment is arranged unit also further can change at the pointing vector of described center camera time, recalculate neighbours' video camera of center camera with respect to the angle value of described center camera pointing vector, and the video image of adjusting accordingly neighbours' video camera of described center camera arranges, thereby assisted user finds the next video camera that moving target occurs accurately.For example:
There is whether to send variation in measuring and calculating processing unit pointing vector real-time or periodic monitoring center video camera; When finding that the pointing vector of center camera changes, whether the pointing vector that calculates current center camera exceeds predetermined adjustment threshold value than the bearing variation value of pointing vector while adjusting of arranging of video image last time; If exceed described adjustment threshold value, the corresponding video image of adjusting neighbours' video camera of described center camera is arranged; If do not exceed described adjustment threshold value, continue the pointing vector of center camera to monitor; Thereby can be in the situation that not increase system be paid wages as far as possible, the next video camera that still assisted user finds moving target to occur accurately.
It should be noted that, the video arrangement mode in the present invention is not limited to the above-mentioned mode exemplifying; For example, can also be according to neighbours' video camera of described center camera with respect to the angle value of described center camera pointing vector and with described center camera distance, the video image of neighbours' video camera of described center camera is arranged in described predetermined display area with described angle value and periphery pane corresponding to distance.For example:
As shown in Figure 9, the video image of center camera C3 shows in central pane; Video camera C5 is positioned at the upper left side of the pointing vector of center camera C3, according to the physical location information between video camera C3 and video camera C5 (as longitude and latitude, height above sea level), calculate distance between video camera C5 and video camera C3, according to the relative angle value and the range information that calculate, the video image of video camera C5 is shown in corresponding periphery pane; In like manner can calculate other neighbours' video cameras with respect to the angle value of video camera C3 pointing vector and with the distance of video camera C3, and then by this neighbours' video camera according to the relative angle value and the range information that calculate, in corresponding periphery pane, showing; When user carries out moving target tracking, suppose that moving target moves to left front in the video image of video camera C3; When moving target moves out the video image of video camera C3, in video window grillages cloth result as shown in Figure 9, user can follow the moving direction of moving target, very naturally, observe the video image of video camera C5, and the video image of video camera C5 is the next video camera that moving target occurs just;
With the present embodiment forms contrast be, in video window grillages cloth result as shown in Figure 2, user follows the moving direction of moving target, the video image of video camera C1 will be observed, can not according to the moving direction of moving target, select the next video camera that needs concern intuitively, therefore need to examine each video camera, in the multiple-camera of comforming, find out next target video camera, be easy to like this cause with losing moving target.
Further, also provide multiple-camera video monitoring system in the present embodiment, as shown in Figure 10, this multiple-camera video monitoring system comprises above-mentioned moving target follow-up mechanism; In addition, also comprise central server, terminal equipment etc.; And moving target follow-up mechanism can work among described terminal equipment; And terminal equipment can be had access to by central server video or the video recording of each video camera.
In sum, in the present invention, when moving target moves to next target video camera from center camera, the moving direction that user follows moving target can naturally be switched to next video camera, and this video camera is the next video camera that moving target occurs; Thereby the present invention can facilitate user to comform in multiple-camera to find out next target video camera greatly.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of making, be equal to replacement, improvement etc., within all should being included in the scope of protection of the invention.
Claims (15)
1. a moving target follow-up mechanism, is applied on the terminal equipment in multiple-camera video monitoring system; It is characterized in that, described device comprises:
Measuring and calculating processing unit, for obtaining the pointing vector of video camera;
Center switch unit, is set to center camera for the video camera of appointment, and the video image of described center camera is switched to the central pane of predetermined display area;
The video unit of arranging, for the angle value with respect to described center camera pointing vector according to neighbours' video camera of described center camera, the video image of neighbours' video camera of described center camera is arranged in periphery pane corresponding with described angle value in described predetermined display area.
2. device according to claim 1, is characterized in that, described in obtain video camera pointing vector further comprise:
If described video camera possesses sensing feedback function, directly read the pointing vector of video camera feedback; Otherwise, judge whether described video camera is arranged on The Cloud Terrace:
If so, according to the rotational angle of the predetermined directional beacon definite value of described video camera and The Cloud Terrace, calculate the pointing vector of video camera; If not, be directly read as the pointing vector of described camera calibration.
3. device according to claim 1, is characterized in that, described measuring and calculating processing unit is further used for:
For any appointment video camera, the video camera that the distance between configuration and described appointment video camera is not more than predeterminable range value is neighbours' video camera of described appointment video camera.
4. device according to claim 1, is characterized in that, also comprises:
Pane preparatory unit, for according to the number of neighbours' video camera of described center camera, prepares respective number for the periphery pane of the video image of neighbours' video camera of display centre video camera at described central pane periphery.
5. device according to claim 1, is characterized in that, neighbours' video camera of described center camera comprises with respect to the calculating of the angle value of described center camera pointing vector:
The azimuth of calculating direction line between neighbours' video camera of described center camera and described center camera, azimuthal difference of result of calculation and center camera pointing vector is neighbours' video camera of described center camera with respect to the angle value of described center camera pointing vector.
6. device according to claim 1, it is characterized in that, the described video unit of arranging, for according to neighbours' video camera of described center camera with respect to the angle value of described center camera pointing vector and with described center camera distance, the video image of neighbours' video camera of described center camera is arranged in described predetermined display area with described angle value and periphery pane corresponding to distance.
7. according to the device described in claim 1-6 any one, it is characterized in that, the described video unit of arranging, is further used for when the pointing vector of described center camera changes, and adjusts accordingly the video image of neighbours' video camera of described center camera and arranges.
8. a moving target method for tracing, is applied on the terminal equipment in multiple-camera video monitoring system; It is characterized in that, described method comprises step:
S1. obtain the pointing vector of video camera;
S2. the video camera of appointment is set to center camera, and the video image of described center camera is switched to the central pane of predetermined display area;
S3. the angle value with respect to described center camera pointing vector according to neighbours' video camera of described center camera, is arranged in the video image of neighbours' video camera of described center camera in periphery pane corresponding with described angle value in described predetermined display area.
9. method according to claim 8, is characterized in that, described in obtain video camera pointing vector further comprise:
If described video camera possesses sensing feedback function, directly read the pointing vector of video camera feedback; Otherwise, judge whether described video camera is arranged on The Cloud Terrace:
If so, according to the rotational angle of the predetermined directional beacon definite value of described video camera and The Cloud Terrace, calculate the pointing vector of video camera; If not, be directly read as the pointing vector of described camera calibration.
10. method according to claim 9, is characterized in that, described step S1 also comprises:
For any appointment video camera, the video camera that the distance between configuration and described appointment video camera is not more than predeterminable range value is neighbours' video camera of described appointment video camera.
11. methods according to claim 8, is characterized in that, between described step S2 and step S3, also comprise:
According to the number of neighbours' video camera of described center camera, at described central pane periphery, prepare the periphery pane of respective number.
12. methods according to claim 8, is characterized in that, neighbours' video camera of described center camera comprises with respect to the calculating of the angle value of described center camera pointing vector:
The azimuth of calculating direction line between neighbours' video camera of described center camera and described center camera, azimuthal difference of result of calculation and center camera pointing vector is neighbours' video camera of described center camera with respect to the angle value of described center camera pointing vector.
13. methods according to claim 8, is characterized in that, described step S3 further comprises:
According to neighbours' video camera of described center camera with respect to the angle value of described center camera pointing vector and with described center camera distance, the video image of neighbours' video camera of described center camera is arranged in described predetermined display area with described angle value and periphery pane corresponding to distance.
Method described in 14. according to Claim 8-13 any one, is characterized in that, described step S3 also comprises:
When the pointing vector of described center camera changes, adjust accordingly the video image of neighbours' video camera of described center camera and arrange.
15. 1 kinds of multiple-camera video monitoring systems, is characterized in that, comprise according to the moving target follow-up mechanism described in claim 1-7 any one.
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Application publication date: 20140219 |