Active tracking method, device and system

Abstract

The invention discloses an active tracking method, and belongs to the field of machine learning. The method comprises that an ith picture frame shot by a camera is obtained; the ith picture frame is input to a deep network which comprises a feature extraction network and a strategy function; a picture feature is extracted from the picture frame via the feature extraction network; output probabilities of n output motions are calculated respectively according to the picture feature via the strategy function, and n>=2; the maximal probability is selected from the output probabilities of the n output motions; and the camera is controlled to execute the output motion corresponding to the maximal probability, and it is supposed that i=i+1. A 3D virtual environment is used to train parameters inthe deep network, and the deep network is used to control motion of the camera according to the picture frames of the camera. Only one deep network is trained, linked parameter adjustment for a motionobject tracking module and a camera control module is not needed, and the workload of parameter adjustment is reduced.

Description

technical field [0001] Embodiments of the present invention relate to the field of machine learning, and in particular to an active tracking method, device and system. Background technique [0002] In the field of machines such as robots and drones, the detection and tracking of moving objects through computer vision is an important research field. These machines are usually equipped with a single camera, and the image frames captured by the single camera are analyzed, and then the continuous tracking of the moving target is realized. [0003] An active tracking technology is provided in the related art, which is divided into two modules: a moving object tracking module and a camera control module. The moving object tracking module is responsible for outputting the tracking results of the moving object to the camera control module. The control module maps the tracking result output by the moving object tracking module to the action of the camera and controls the movement of...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the camera control module and the moving target tracking module are two independently operating modules, and it is difficult to adjust the two sets of working parameters to a reasonable state at the same time when adjusting the parameters of the two modules, the embodiment of the present invention provides a A kind of active tracking method, device and system

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