Target tracking and trajectory three-dimensional reproduction method and device based on single camera

Abstract

The invention discloses a target tracking and trajectory three-dimensional reproduction method and a device based on a single camera. The method comprises the steps: (1) calibrating the camera, and building a homogeneous transformation matrix of a camera coordinate system, an imaging plane coordinate system and a three-dimensional space coordinate system; (2) acquiring a video image of a to-be-monitored area through an image acquisition card and a camera; (3) extracting feature information of a target in the wave gate; (4) performing correlation filtering operation by utilizing the extracted features and corresponding features in the target wave gate in the search box; (5) solving response values of the target at different positions in the search area; (6) determining the size and the position of a target frame, and determining the coordinate of the target centroid in the image; (7) performing coordinate transformation on the centroid coordinates of the target in the image in the step(6) according to the homogeneous transformation obtained in the step (1); (8) calculating according to the method in the step (7) to obtain the coordinate of the target in the three-dimensional space;and (9) outputting and displaying a calculation result in the step (8).

Description

technical field [0001] The present invention relates to the technical field of target tracking and coordinate conversion, in particular to a single-camera-based target tracking and trajectory three-dimensional reproduction method, and a single-camera-based target tracking and trajectory three-dimensional reproduction device. Background technique [0002] Vision-based target tracking technology has been successfully applied in many fields such as video surveillance and visual navigation. By connecting the centroids of the target running on the image, the trajectory of the target on the image can be obtained. Analysis of the trajectory of the target can further identify the behavior or intention of the target. Therefore, it has been widely concerned by domestic and foreign scholars and related scientific research units. [0003] However, due to the perspective principle in the image imaging process, the trajectory of the target in the real three-dimensional space is quite dif...

AI Technical Summary

Problems solved by technology

[0003] However, due to the perspective principle in the image imaging process, the trajectory of the target in the real three-dimensional space is quite different from the trajectory obtained in the image, and it is difficult to make an intuitive judgment. Identifying intent brings greater difficulty

Images