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Multi-type vision sensing cooperative target tracking method

A target tracking and visual sensing technology, which is applied in image data processing, instrumentation, computing, etc., can solve the problem of narrow effective area of ​​collaborative tracking

Inactive Publication Date: 2017-08-11
XIAN UNIV OF TECH
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Problems solved by technology

[0006] The purpose of the present invention is to provide a multi-type visual sensing cooperative target tracking method, which solves the problem that the effective area of ​​cooperative tracking between multiple cameras is narrow, and realizes continuous cooperative tracking of moving targets

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Embodiment Construction

[0111] The present invention is described in detail below in conjunction with accompanying drawing and specific embodiment:

[0112] Such as figure 1 As shown, the multi-type visual sensing collaborative target tracking method specifically includes the following steps:

[0113] Step 1, use the traditional camera C1 and the panoramic camera C2 to track the same target, and use the particle filter method to pre-estimate the target state at the next moment in C1 and C2 respectively.

[0114] Step 2, establishing the epipolar geometric relationship between C1 and C2;

[0115]Step 3, establish a cooperative switch model, and judge whether to start the cooperative tracking mode according to the position of the target in the field of view of C1 and C2;

[0116] Step 4, in the cooperative tracking mode, start the cooperative mechanism to correct and update the state of the occluded target according to the geometric relationship between the poles;

[0117] Step 5, take the target st...

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Abstract

Disclosed is a multi-type vision sensing cooperative target tracking method, specifically comprising the following steps: step 1, tracking the same target using a traditional camera C1 and a panoramic camera C2, and estimating the state of the target at next moment by adopting a particle filter method in C1 and C2 respectively; step 2, establishing an epipolar geometrical relationship between C1 and C2; step 3, establishing a cooperative switching model, and judging whether a cooperative tracking mode is started according to the positions of the target in fields of view of C1 and C2; step 4, in the cooperative tracking mode, starting a cooperation mechanism, and correcting and updating the state of a shaded target according to the epipolar geometrical relationship; step 5, taking the target state processed in step 4 as the current moment state of the target, returning to step 2, thereby realizing continuous cooperative tracking on the moving target between C1 and C2. The method solves the problem that the cooperative tracking effective area among multiple cameras is narrow, and realizes continuous cooperative tracking on the moving target.

Description

technical field [0001] The invention belongs to the technical field of video image tracking, and relates to a multi-type visual sensor cooperative target tracking method. Background technique [0002] With the development of science and technology and the progress of society, people's requirements for safety are also constantly increasing. Various visual sensor monitoring systems have great application prospects in national defense, military, traffic management, behavior analysis, etc. In these applications The scope of the scene to be observed is very large, and a single visual sensor can no longer cover it. At this time, multiple visual sensors are needed to achieve large-scale observation work. [0003] For multi-camera target tracking, target matching is the key technology. The basis of target matching is divided into the following two types: (1) The consistency of its own characteristics, mainly based on the color, shape and other information of the target for target ma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/292G06T7/223G06T7/207
CPCG06T2207/10016
Inventor 刘龙李鲜莉杨乐超
Owner XIAN UNIV OF TECH
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