Automatic PTZ (Pan/Tilt/Zoom) target tracking method based on particle filter

Abstract

The invention discloses an automatic PTZ (Pan / Tilt / Zoom) target tracking method based on particle filter. The automatic PTZ target tracking method comprises the steps of detection of a moving target, target tracking and pan-and-tilt control. The method can allow a camera to lock the moving target automatically and implement automatic tracking of vision guidance, thereby overcoming the defect that a fixed camera has a narrow monitoring visual field. At first, the moving target is selected by a manual frame in a pre-set position or the moving target is automatically detected by a vision consistency algorithm; secondly, a target position is matched and tracked by the classic particle filter; and finally, a control order is sent according to the position and the size of the target, so that the position and the focal distance of the camera can be adjusted. When a tracking process fails, the camera automatically skips back to the pre-set position, and the detection of next turn can be carried out. The automatic PTZ target tracking method provided by the invention is reasonable in design, so that the automatic tracking function of the camera to the target can be realized, and the target is located in the middle of a lens all along. Therefore, the automatic PTZ target tracking method brings convenience to monitoring personnel.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to a particle filter-based PTZ automatic tracking target method. Background technique [0002] PTZ camera has the advantages of fast speed, high precision and large monitoring range, and is one of the most commonly used monitoring front-end equipment in the monitoring field today. The intelligent PTZ automatic tracking and monitoring system has the function of target analysis, and is equipped with a high-resolution camera, a large-magnification optical zoom lens and a high-speed pan-tilt, which can automatically capture suspicious targets quickly and accurately. By setting the preset position, the intelligent PTZ automatic tracking monitoring system can realize functions such as preset position scanning and automatic cruise. But this is just a blind scanning cruise, which fails to capture the state of the target in real time, so it does not realize true automatic tracking. Therefore...

AI Technical Summary

Problems solved by technology

Due to the rotation of the camera, the traditional background modeling method cannot be used, and the moving target tracking based on the detection result cannot be used

Another important problem in the system is the control of PTZ. Different servo control systems have different response speeds and accuracy to control commands. Once the response of the control equipment to the control commands does not meet the requirements, the target may be lost in the image. The analysis algorithm will lose its effect, which will inevitably lead to the failure of tracking

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