Master-slave tracking method for binocular PTZ (Pan-Tilt-Zoom) visual system and system applying same

Abstract

The invention provides a master-slave tracking method for a binocular PTZ (Pan-Tilt-Zoom) visual system and a system applying the method. The master-slave tracking method comprises the following steps of: respectively calibrating two PTZ cameras, thereby obtaining camera coordinate system models; establishing a spherical coordinate system, enabling longitude values of corresponding points on two PTZ camera coordinate systems to keep consistent on the spherical coordinate system, expressing visual angle differences by using latitude differences, and respectively obtaining transformation matrixes from the two PTZ camera coordinate systems; and deciding on a master camera and a slave camera, selecting a tracking object from observation images of the master camera, and enabling the master camera to estimate PTZ parameters (Pts, Tts and Zts) of the slave camera at any PTZ parameters (PM, TM and ZM); and outputting a high-resolution panoramagram. The master-slave tracking method provided by the invention can realize the monitoring on wide-range scenes and can reduce hardware overhead. According to the master-slave tracking system provided by the invention, the two PTZ cameras are of a symmetrical design, the positions of the two PTZ cameras can be exchanged according to different tasks, the flexibility is strong, and the subsequent information fusion is favored.

Description

technical field [0001] The invention relates to the technical field of computer vision intelligent monitoring, in particular to a master-slave tracking system and a tracking method using a binocular PTZ camera vision system. Background technique [0002] With the urgent need for public security and military security worldwide, intelligent visual surveillance technology has received more and more attention. In the early application of intelligent visual surveillance technology, the degree of intelligence was very low, and the security protection function mainly relied on people to judge the events in the surveillance video, and the reliability and automation were very low. With the rapid development of computer processing performance and the continuous improvement of computer vision theory, the intelligent visual monitoring system has been greatly developed, and its development prospects are very broad, which has attracted the attention of many scholars and engineers. [000...

AI Technical Summary

Problems solved by technology

The existing master-slave system includes: a system architecture combining a static camera and a PTZ camera. The main problem of this system is that the monitoring field of view is limited, which is limited to the monitoring field of view of the static camera and cannot be adapted to the monitoring of large scenes; The system configuration combining multiple still cameras and PTZ

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