Object tracking method and device

Abstract

The invention discloses an object tracking method and device, relates to the technical field of object tracking, and mainly aims to realize that a security and protection system has an object tracking capability. According to the main technical scheme, the security and protection system comprises a plurality of cameras, and each camera is provided with a corresponding area capable of being shot; obtaining the current target position of the to-be-tracked object; selecting a camera of which a shooting area comprises the target position as a target camera; based on the target position and the position of each selected target camera, determining camera shooting parameters required by each target camera for shooting the to-be-tracked object; and based on the camera shooting parameters, controlling each target camera to shoot the to-be-tracked object.

Description

Technical Field

[0001] The present application relates to the technical field of object tracking, and in particular to an object tracking method and device. Background Art

[0002] A security system is a system that uses cameras to monitor designated areas or places, obtain surveillance images, and achieve security prevention and control purposes. However, the current security system only has the ability to obtain surveillance images through cameras, but does not have the ability to track objects such as people and vehicles that enter designated areas or places through cameras, which makes it difficult to conduct security prevention and control of these objects in a timely manner. Therefore, how to enable security systems to have object tracking capabilities has become a problem that needs to be solved urgently. Summary of the invention

[0003] The present application proposes an object tracking method and device, the main purpose of which is to enable a security system to have object tracking capabilities.

[0004] In order to achieve the above objectives, this application mainly provides the following technical solutions:

[0005] In a first aspect, the present application provides an object tracking method, which is applied to a security system, wherein the security system includes multiple cameras, each of which has a corresponding photographic area, and the object tracking method includes: obtaining the current target position of the object to be tracked; selecting a camera whose photographic area includes the target position as a target camera; based on the target position and the position of each selected target camera, determining the camera shooting parameters required for each target camera to shoot the object to be tracked; based on the camera shooting parameters, controlling each target camera to shoot the object to be tracked.

[0006] In some embodiments of the present application, based on the target position and the position of each selected target camera, the camera shooting parameters required for each target camera to shoot the object to be tracked are determined, including: for each target camera: determining a three-dimensional coordinate system corresponding to the target camera, the three-dimensional coordinate system takes the position of the target camera as the origin, the current orientation of the target camera as the positive direction of the X-axis, and the Z-axis of the three-dimensional coordinate system is perpendicular to the plane where the X-axis and the Y-axis are located; determining a first coordinate corresponding to the target position in the three-dimensional coordinate system and a second coordinate corresponding to the position of the target camera in the three-dimensional coordinate system; based on the first coordinate and the second coordinate, determining a first angle required between the optical axis of the target camera and the positive direction of the X-axis and a second angle required between the optical axis of the target camera and the negative direction of the Z-axis for shooting the object to be tracked; determining the first angle and the second angle as the camera shooting parameters required for the target camera to shoot the object to be tracked.

[0007] In some embodiments of the present application, before determining the three-dimensional coordinate system corresponding to the target camera, the method also includes: detecting whether the target camera is a fixed camera; if so, determining the current orientation and current tilt angle of the target camera as the camera shooting parameters required for the target camera to shoot the object to be tracked; if not, executing the step of determining the three-dimensional coordinate system corresponding to the target camera.

[0008] In some embodiments of the present application, the object tracking method provided in this embodiment also includes: for each of the target cameras: based on the first coordinate and the second coordinate, determining the distance between the target position and the position of the target camera; based on the distance, the first angle and the second angle, determining the target parameters required for the target camera to shoot the object to be tracked, and adding the target parameters to the camera shooting parameters required for the target camera to shoot the object to be tracked, wherein the target parameters include at least one of the following: field of view angle, focal length.

[0009] In some embodiments of the present application, the object tracking method provided in this embodiment also includes: for each of the target cameras: determining the brightness information of the target position, determining exposure parameters applicable to the brightness information, and adding the exposure parameters to the camera shooting parameters required by the target camera to shoot the object to be tracked.

[0010] In some embodiments of the present application, each object of each attribute has corresponding target brightness information, and determining the brightness information of the target position includes: determining the target brightness information corresponding to the object to be tracked based on the attribute of the object to be tracked; judging whether the brightness of the object to be tracked is higher than the ambient brightness of the target position based on the target brightness information; if higher, determining the brightness information of the target position based on the target brightness information and the ambient brightness of the target position; if not higher, determining the brightness information of the target position based on the ambient brightness of the target position.

[0011] In some embodiments of the present application, the object tracking method provided in this embodiment also includes: if the corresponding photographable areas of all cameras do not include the target position, then detecting whether the target position is included in the target area, the target area is the area that can be monitored by the security system and includes the photographable areas of all cameras; if it is included, then prompting that the object to be tracked is located in a blind spot that cannot be captured by the camera; if it is not included, then prompting that the object to be tracked has left the monitoring of the security system.

[0012] In some embodiments of the present application, the security system also includes at least one handheld terminal with a shooting function, and each of the handheld terminals is carried by a corresponding user. Then, the object tracking method provided in this embodiment also includes: if it is detected that the target position is included in the target area, determining the target distance between the current position of each handheld terminal and the target position; if there is a first handheld terminal whose target distance is less than a preset distance, sending a shooting request for indicating the target position to the first handheld terminal, so that the user of the first handheld terminal can shoot the object to be tracked at the target position based on the shooting request.

[0013] In some embodiments of the present application, if it is detected that the target position is contained in the target area, a path prediction model corresponding to the attributes of the object to be tracked is used to predict the estimated position to which the object to be tracked is about to move and the time point when it moves to the estimated position based on the target position; if the estimated position is located in the target area and in a blind spot that cannot be captured by the camera, a second handheld terminal that can reach the estimated position at the time point is determined, and a shooting request for indicating the estimated position and the time point is sent to the second handheld terminal, so that the user of the second handheld terminal can shoot the object to be tracked at the estimated position at the time point based on the shooting request.

[0014] In some embodiments of the present application, the photographable area has a corresponding coordinate range in the preset coordinate system, then the camera that includes the target position in the photographable area is selected as the target camera, including: determining the target coordinates corresponding to the target position in the preset coordinate system; detecting whether there is a coordinate range that includes the target coordinates; if so, determining the target photographable area corresponding to the corresponding coordinate range, and selecting the camera corresponding to the target photographable area as the target camera.

[0015] In some embodiments of the present application, the object tracking method provided in this embodiment further includes: monitoring in real time whether the position of the object to be tracked changes; if it changes, updating the current target position of the object to be tracked based on the changed position.

[0016] In some embodiments of the present application, the object tracking method provided in this embodiment also includes: evaluating whether the object to be tracked can be highlighted in the image taken by the camera; if not, turning on the rendering function of the target camera, and the rendering function is used to enable the camera to highlight the object to be tracked in the captured image.

[0017] In a second aspect, the present application provides an object tracking device, which is applied to a security system, wherein the security system includes a plurality of cameras, each of which has a corresponding photographable area, and the object tracking device includes:

[0018] An acquisition module is used to obtain the current target position of the object to be tracked;

[0019] A selection module, used for selecting a camera whose shooting area includes the target position as a target camera;

[0020] A determination module, used for determining camera shooting parameters required for each target camera to shoot the object to be tracked based on the target position and the position of each selected target camera;

[0021] A control module is used to control each of the target cameras to shoot the object to be tracked based on the camera shooting parameters.

[0022] In a third aspect, the present application provides a computer-readable storage medium, which includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the object tracking method of the first aspect.

[0023] In a fourth aspect, the present application provides an electronic device, comprising: a memory for storing a program; and a processor, coupled to the memory, for running the program to execute the object tracking method of the first aspect.

[0024] The object tracking method and device provided by the present application, when there is an object to be tracked, obtains the current target position of the object to be tracked, and selects the camera in the security system whose shooting area includes the target position as the target camera. Then, based on the target position and the position of each selected target camera, the camera shooting parameters required for each target camera to shoot the object to be tracked are determined. Finally, based on the camera shooting parameters, each target camera is controlled to shoot the object to be tracked. It can be seen that the solution provided by the present application can select a target camera that can shoot the object to be tracked from the security system, and control the target camera to track and shoot the object to be tracked with appropriate camera shooting parameters. In this way, the security system can track the object to be tracked through the target camera, thereby realizing the security system has the ability to track objects, and then enables the security system to timely perform security prevention and control based on the images captured by tracking.

[0025] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 A flowchart of an object tracking method provided by an embodiment of the present application is shown;

[0028] Figure 2 A schematic diagram of a three-dimensional coordinate system provided by an embodiment of the present application is shown;

[0029] Figure 3 A schematic diagram of the structure of an object tracking device provided by an embodiment of the present application is shown;

[0030] Figure 4 A schematic structural diagram of an object tracking device provided in another embodiment of the present application is shown. DETAILED DESCRIPTION

[0031] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to enable the scope of the present application to be fully communicated to those skilled in the art.

[0032] At present, the security system only has the ability to obtain monitoring images through cameras, but does not have the ability to track objects such as people and vehicles entering designated areas or places through cameras. This makes it difficult to take timely security precautions and control objects entering designated areas or places.

[0033] After research, it was found that if the current location of the object to be tracked is obtained, a camera that can capture that location is selected from the security system, and the object to be tracked at that location is photographed, then the security system can track the object to be tracked through the target camera, thereby enabling the security system to have object tracking capabilities, and then enabling the security system to perform security prevention and control in a timely manner based on the images captured by tracking.

[0034] Based on the above findings, this embodiment proposes a technical solution for object tracking, which is applied to a security system. The security system includes multiple cameras, each camera has a corresponding shooting area, and the technical solution is specifically: obtaining the current target position of the object to be tracked; selecting a camera whose shooting area includes the target position as the target camera; based on the target position and the position of each selected target camera, determining the camera shooting parameters required for each target camera to shoot the object to be tracked; based on the camera shooting parameters, controlling each target camera to shoot the object to be tracked.

[0035] The object tracking technical solution provided in this embodiment can be applied to a security system deployed in any designated area or place to enable the security system to have object tracking capabilities. For example, the security system can include but is not limited to a security system applied to a city, and the place can be a home or office.

[0036] Based on the above-mentioned technical solution for object tracking, this embodiment specifically provides an object tracking method and device. The object tracking method and device provided by this embodiment are specifically described below.

[0037] like Figure 1 As shown, an embodiment of the present application provides an object tracking method, which is applied to a security system. The object tracking method mainly includes the following steps 101 to 104:

[0038] 101. Obtain the current target position of the object to be tracked.

[0039] The object tracking method provided in this embodiment is applied to a security system, which refers to a system that uses various technologies and equipment to perform security prevention and control on a designated area or place. The security system includes multiple cameras, so images can be captured by the cameras and recognized and analyzed to achieve the purpose of security prevention and management.

[0040] Each camera in the security system has a corresponding shootable area, which is the area that the camera can cover. The shootable area is set based on the camera type, specifically: one is that the camera type is a fixed camera, and the direction and tilt angle of the fixed camera are fixed and cannot be adjusted. Therefore, when the camera is a fixed camera, the area that the camera can cover at a fixed direction and tilt angle can be set as the corresponding shootable area. The specific type of fixed camera can be determined based on business needs, such as a fixed camera being a gun camera. Another is that the camera is an adjustable camera. The direction and tilt angle of an adjustable camera are both flexibly adjustable. Therefore, when the camera is an adjustable camera, the union of all areas that can be covered at all adjustable directions and tilt angles of the camera can be set as the corresponding shootable area.

[0041] In this embodiment, the object to be tracked is an object whose image needs to be collected by the security system and tracked and managed through image analysis. Exemplarily, the object to be tracked may include but is not limited to any of the following: a person, a vehicle, an object, etc.

[0042] The object to be tracked can be determined by the following two methods: one is to capture images in real time through the camera in the security system, analyze the collected images, and if the image analysis result indicates that there is a suspicious object in the image, the suspicious object is determined as the object to be tracked. Exemplarily, if the image analysis result indicates that there is a vehicle with collision behavior in the image, the vehicle is determined as the object to be tracked. The other is to determine the object specified by the user as the object to be tracked, so that the object to be tracked can be flexibly selected based on user needs.

[0043] After determining the object to be tracked, it is necessary to obtain the current target position of the object to be tracked, so as to select a target camera from the cameras of the security system that can take targeted photos of the object to be tracked based on the target position. The method of obtaining the current target position of the object to be tracked may include the following two methods: First, the specified position input by the user is obtained as the current target position of the object to be tracked. Second, the object to be tracked usually carries a terminal with a positioning function (such as a mobile phone), and the position corresponding to the current positioning of the terminal is obtained as the current target position of the object to be tracked. The target position can be represented by longitude and latitude, or by coordinates in a preset geographic coordinate system, which is not limited in this embodiment.

[0044] 102. A camera whose shooting area includes the target position is selected as a target camera.

[0045] After determining the current target position of the object to be tracked, it is necessary to select the camera whose shooting area includes the target position as the target camera, so as to conduct targeted tracking and shooting of the object to be tracked through the target camera, thereby quickly realizing security management and control of the object to be tracked through the images captured by tracking.

[0046] Generally, the photographable area has a corresponding coordinate range in a preset coordinate system. Therefore, the specific process of selecting the camera whose photographable area includes the target position as the target camera may include the following steps: determining the target coordinates corresponding to the target position in the preset coordinate system; detecting whether there is a coordinate range including the target coordinates; if so, determining the target photographable area corresponding to the corresponding coordinate range, and selecting the camera corresponding to the target photographable area as the target camera.

[0047] If a coordinate range containing the target coordinates is detected, it means that the camera in the target photographic area corresponding to the coordinate range can capture the object to be tracked located at the target coordinates. Therefore, the target photographic area corresponding to the corresponding coordinate range is determined, and the camera corresponding to the target photographic area is selected as the target camera.

[0048] 103. Based on the target position and the position of each selected target camera, determine the camera shooting parameters required for each target camera to shoot the object to be tracked.

[0049] After the target camera is determined, it is necessary to determine the camera shooting parameters required by the target camera to shoot the object to be tracked, so as to control the target camera to clearly capture the image of the object to be tracked through the camera shooting parameters.

[0050] Based on the target position and the position of each selected target camera, the specific process of determining the camera shooting parameters required for each target camera to shoot the object to be tracked may be to perform the following steps 103A to 103D for each target camera respectively:

[0051] 103A. Determine the three-dimensional coordinate system corresponding to the target camera.

[0052] Considering that the orientation of the target camera is based on the current orientation, the three-dimensional coordinate system takes the position of the target camera as the origin, the current orientation of the target camera as the positive direction of the X axis, and the Z axis of the three-dimensional coordinate system is perpendicular to the plane where the X axis and the Y axis are located.

[0053] 103B. Determine a first coordinate corresponding to the target position in the three-dimensional coordinate system and a second coordinate corresponding to the position of the target camera in the three-dimensional coordinate system.

[0054] In order to more accurately determine the direction and tilt angle required for the target camera to shoot the object to be tracked, it is necessary to convert the current target position of the object to be tracked and the position of the target camera into coordinates in a three-dimensional coordinate system.

[0055] 103C. Based on the first coordinate and the second coordinate, determine a first angle required between the optical axis of the target camera shooting the object to be tracked and the positive direction of the X axis and a second angle required between the optical axis of the target camera and the negative direction of the Z axis.

[0056] The first angle required between the optical axis of the target camera and the positive direction of the X axis indicates the direction in which the target camera should shoot the object to be tracked. The second angle required between the optical axis of the target camera and the negative direction of the Z axis indicates the tilt angle required for the target camera to shoot the object to be tracked.

[0057] Based on the first coordinate and the second coordinate, the process of determining the first angle that needs to be between the optical axis of the target camera photographing the object to be tracked and the positive direction of the X-axis may include the following steps 1 to 3:

[0058] Step 1: Calculate the coordinate difference between the first coordinate and the second coordinate on the X-axis and the Y-axis.

[0059] The first coordinate is (X1, Y1, Z1), and the second coordinate is (X2, Y2, Z2). The coordinate difference on the X axis is calculated to be ΔX=X2-X1, and the coordinate difference on the Y axis is ΔY=Y2-Y1.

[0060] Step 2: Determine the quadrant angle based on the coordinate difference.

[0061] Based on the formula R=arctan(ΔY / ΔX), the quadrant angle is determined by the coordinate difference determined in step 1. In the formula, arctan represents the inverse tangent function, and R represents the quadrant angle, which ranges from -90° to 90°, and represents the angle between the optical axis of the target camera and the positive direction of the X axis.

[0062] Step three: determine the first angle that needs to exist between the optical axis of the target camera shooting the object to be tracked and the positive direction of the X-axis based on the quadrant angle.

[0063] The determination of the first angle and the second angle is related to the rotation direction of the camera when adjusting the orientation of the camera. For example, when the orientation of the target camera is adjusted counterclockwise based on the current orientation of the target camera, that is, the positive direction of the X-axis, the determination process of the first angle can be:

[0064] When ΔX>0 and ΔY>0, the first coordinate corresponding to the target position is located in the first quadrant of the plane where the X-axis and the Y-axis of the three-dimensional coordinate system are located, and the quadrant angle is determined as the first angle.

[0065] When ΔX<0 and ΔY>0, the first coordinate corresponding to the target position is located in the second quadrant of the plane where the X axis and Y axis of the three-dimensional coordinate system are located, and the sum of the quadrant angle and 90° is determined as the first angle.

[0066] When ΔX<0 and ΔY<0, the first coordinate corresponding to the target position is located in the third quadrant of the plane where the X axis and Y axis of the three-dimensional coordinate system are located, and the sum of the quadrant angle and 180° is determined as the first angle.

[0067] When ΔX>0 and ΔY<0, the first coordinate corresponding to the target position is located in the fourth quadrant of the plane where the X-axis and Y-axis of the three-dimensional coordinate system are located, and the sum of the quadrant angle and 270° is determined as the first angle.

[0068] For example, Figure 2 As shown, Figure 2 The angle E shown in FIG. 1 is the first angle. Figure 2 The black dot in the middle represents the first coordinate corresponding to the target position in the three-dimensional coordinate system. When adjusting the direction of the target camera, the first angle is rotated counterclockwise based on the current direction of the target camera, that is, the positive direction of the X axis.

[0069] The process of determining the second angle required between the optical axis of the target camera photographing the object to be tracked and the negative direction of the Z axis may include the following steps 4 to 5:

[0070] Step 4: Based on the first coordinate and the second coordinate, calculate the distance between the target position and the position of the target camera, and calculate the coordinate difference between the first coordinate and the second coordinate on the Z axis.

[0071] The first coordinate is (X1, Y1, Z1), and the second coordinate is (X2, Y2, Z2). The distance D between the target position and the target camera position can be calculated by the following formula:

[0072]

[0073] The coordinate difference between the first coordinate and the second coordinate on the Z axis is calculated to be ΔZ=Z2-Z1.

[0074] Step 5: Based on the distance and the coordinate difference on the Z axis, determine the second angle F that needs to exist between the optical axis of the target camera shooting the object to be tracked and the negative direction of the Z axis.

[0075] Based on the formula F=arctan(D / ΔZ), the second angle between the optical axis of the target camera shooting the object to be tracked and the negative direction of the Z axis is determined by the distance and the coordinate difference on the Z axis. Figure 2 As shown, Figure 2 When adjusting the tilt angle of the target camera, the second angle is rotated based on the negative direction of the Z axis.

[0076] 103D. Determine the first angle and the second angle as camera shooting parameters required for the target camera to shoot the object to be tracked.

[0077] The first angle and the second angle are determined as camera shooting parameters required for the target camera to shoot the object to be tracked, so as to adjust the direction of the target camera based on the first angle and adjust the tilt angle of the target camera based on the second angle.

[0078] Furthermore, considering that the security system may include a fixed camera or an adjustable camera, and the fixed camera has a fixed orientation and an inclination angle that cannot be adjusted, in order to reduce unnecessary computing power consumption, before determining the three-dimensional coordinate system corresponding to the target camera in step 103A, the object tracking method provided in this embodiment may further include the following step 103E:

[0079] 103E. Detect whether the target camera is a fixed camera; if so, determine the current orientation and current tilt angle of the target camera as the camera shooting parameters required for the target camera to shoot the object to be tracked; if not, execute step 103A to determine the three-dimensional coordinate system corresponding to the target camera.

[0080] If the target camera is detected as a fixed camera, it means that the direction and tilt angle of the target camera are fixed and cannot be adjusted. Therefore, the current direction and current tilt angle of the target camera are determined as the camera shooting parameters required for the target camera to shoot the object to be tracked.

[0081] If it is detected that the target camera is not a fixed camera but an adjustable camera, then the current orientation and current tilt angle of the target camera may not meet the requirements for photographing the object to be tracked. Therefore, step 103A needs to be executed to determine the three-dimensional coordinate system corresponding to the target camera in order to continue with subsequent steps.

[0082] Furthermore, in order to enable the target camera to capture high-quality images of the object to be tracked, other camera shooting parameters that meet the shooting requirements can be additionally determined for the target camera by the following two methods.

[0083] The first one takes into account that factors such as field of view angle and focal length directly affect the clarity of the image. Therefore, for each target camera: based on the first coordinate and the second coordinate, determine the distance between the target position and the position of the target camera; based on the distance, the first angle and the second angle, determine the target parameters required for the target camera to shoot the object to be tracked, and add the target parameters to the camera shooting parameters required for the target camera to shoot the object to be tracked, wherein the target parameters include at least one of the following: field of view angle, focal length.

[0084] Considering that the target parameters required for the target camera to capture high-quality images may be different at different distances, first angles, and second angles, multiple sets of target parameters and the distances, first angles, and second angles corresponding to each set of target parameters may be preset in advance. Then, when determining the target parameters required for the target camera to capture the object to be tracked based on the distance, first angle, and second angle, the target parameters required for the target camera to capture the object to be tracked may be found based on the preset corresponding relationship.

[0085] The second method takes into account that factors such as exposure parameters directly affect the quality of the image. Therefore, for each target camera: determine the brightness information of the target position, determine the exposure parameters suitable for the brightness information, and add the exposure parameters to the camera shooting parameters required by the target camera to shoot the object to be tracked.

[0086] Considering that the brightness of objects with different attributes will affect the ambient brightness, it can be preset in advance that objects of each attribute have corresponding target brightness information, and the target brightness information is determined based on the brightness of the objects of the corresponding attributes, and the target brightness information may include a brightness value.

[0087] The specific process of determining the brightness information of the target position may include the following steps: based on the attributes of the object to be tracked, determining the target brightness information corresponding to the object to be tracked; based on the target brightness information, judging whether the brightness of the object to be tracked is higher than the ambient brightness of the target position; if higher, determining the brightness information of the target position based on the target brightness information and the ambient brightness of the target position; if not higher, determining the brightness information of the target position based on the ambient brightness of the target position.

[0088] If it is determined that the brightness of the object to be tracked is higher than the ambient brightness of the target position, the brightness information of the target position is determined based on the target brightness information and the ambient brightness of the target position, and the brightness information can comprehensively reflect the ambient brightness of the target position and the brightness of the object to be tracked. The exposure parameters determined based on such brightness information can enable the target camera to capture an image that can highlight the object to be tracked.

[0089] If it is determined that the brightness of the object to be tracked is not higher than the ambient brightness of the target position, it means that the exposure parameters of the ambient brightness are met, and the target camera can capture an image that can highlight the object to be tracked. Therefore, based on the ambient brightness of the target position, the brightness information of the target position is determined.

[0090] The above two methods can be used alone or in combination. The camera shooting parameters obtained when used in combination can improve the quality of the image of the object to be tracked captured by the target camera.

[0091] 104. Based on the camera shooting parameters, control each target camera to shoot the object to be tracked.

[0092] After determining the camera shooting parameters of each target camera, the following steps are performed for each target camera: based on the camera shooting parameters, the target camera is adjusted, and the adjusted target camera is controlled to shoot the object to be tracked. It should be noted that if there are multiple target cameras, the object to be tracked is located on the midline of the field of view of each adjusted target camera, so that the image of the object to be tracked can be tracked more clearly and comprehensively.

[0093] Furthermore, in order to facilitate rapid security control of the object to be tracked based on the captured images, the object tracking method provided in this embodiment may also include the following steps: evaluating whether the object to be tracked can be highlighted in the image captured by the camera; if not, turning on the rendering function of the target camera, and the rendering function is used to enable the camera to highlight the object to be tracked in the captured image.

[0094] The specific process of evaluating whether the object to be tracked can be highlighted in the image captured by the camera may include: determining whether the color difference between the color of the object to be tracked and the color of the surrounding environment of the target position reaches a color difference threshold. If the color difference threshold is reached, it is evaluated that the object to be tracked can be highlighted in the image captured by the camera. After the image is obtained, the object to be tracked can be quickly identified from the image and corresponding recognition analysis can be performed to achieve rapid security management and control of the object to be tracked. If the color difference threshold is not reached, it is evaluated that the object to be tracked cannot be highlighted in the image captured by the camera. In the obtained image, the speed of identifying the object to be tracked from the image is slow, so the rendering function of the target camera is turned on, so that under the rendering function, the target camera can highlight the object to be tracked in the captured image, thereby speeding up the speed of identifying the object to be tracked from the image and performing corresponding recognition analysis.

[0095] The object tracking method provided in the embodiment of the present application, when there is an object to be tracked, obtains the current target position of the object to be tracked, and selects the camera in the security system whose shooting area includes the target position as the target camera. Then, based on the target position and the location of each selected target camera, the camera shooting parameters required for each target camera to shoot the object to be tracked are determined. Finally, based on the camera shooting parameters, each target camera is controlled to shoot the object to be tracked. It can be seen that the solution provided in the embodiment of the present application can select a target camera that can shoot the object to be tracked from the security system, and control the target camera to track and shoot the object to be tracked with appropriate camera shooting parameters. In this way, the security system can track the object to be tracked through the target camera, thereby realizing that the security system has the ability to track objects, and then the security system can timely perform security prevention and control based on the images captured by tracking.

[0096] In some embodiments of the present application, taking into account the possibility that the corresponding photographic areas of all cameras do not include the current target position of the object to be tracked, in order to be able to deal with this situation, after the above-mentioned step 101, the object tracking method provided in this embodiment may also include the following steps: if the corresponding photographic areas of all cameras do not include the target position, then detecting whether the target position is included in the target area; if included, then prompting that the object to be tracked is located in a blind spot that cannot be captured by the camera; if not included, then prompting that the object to be tracked has left the monitoring of the security system.

[0097] The target area is the area that the security system can monitor and includes the area that can be captured by all cameras. If it is detected that the target position is included in the target area, it means that the object to be tracked is still in the target area that the security system can monitor, but the current target position of the object to be tracked is a position that cannot be captured by all cameras, that is, the object to be tracked is in a blind spot that cannot be captured by the camera, so it is prompted that the object to be tracked is in a blind spot that cannot be captured by the camera. If it is detected that the target position is not included in the target area, it means that the object to be tracked has left the monitoring of the security system, so it is prompted that the object to be tracked has left the monitoring of the security system, so as to clarify the fact that the object to be tracked has left the monitoring of the security system through the prompt.

[0098] Furthermore, in order to improve the security control effect of the security system, the security system also includes at least one handheld terminal with a shooting function, and each handheld terminal is carried by a corresponding user. Based on the characteristics of the security system including the handheld terminal, when it is detected that the target position is included in the target area, in addition to executing the step of prompting that the object to be tracked is located in a blind spot that cannot be captured by the camera, the following two processes can also be executed:

[0099] The first method is to determine the target distance between the current position of each handheld terminal and the target position if it is detected that the target position is contained in the target area; if there is a first handheld terminal whose target distance is less than a preset distance, send a shooting request for indicating the target position to the first handheld terminal, so that the user of the first handheld terminal can shoot the object to be tracked at the target position based on the shooting request.

[0100] If the corresponding shooting areas of all cameras do not contain the target position, and the target position is detected to be contained in the target area, it means that the object to be tracked is located in a blind spot that cannot be captured by the camera. At this time, in order to be able to capture the object to be tracked, the target distance between the current position of each handheld terminal and the target position can be determined. The target distance is obtained through the distance formula between two points.

[0101] If there is a first handheld terminal among the handheld terminals included in the security system, whose target distance is less than the preset distance, it means that the user of the first handheld terminal can quickly reach the vicinity of the target position and use the first handheld terminal to shoot the object to be tracked. Therefore, a shooting request for indicating the target position is sent to the first handheld terminal, so that the user of the first handheld terminal can shoot the object to be tracked at the target position based on the shooting request.

[0102] If there is no first handheld terminal whose target distance is less than the preset distance among the handheld terminals included in the security system, it means that all users of the handheld terminals cannot quickly reach the vicinity of the target position and use the handheld terminals to shoot the object to be tracked. At this time, the following second method can be continued.

[0103] The second method is that if it is detected that the target position is contained in the target area, a path prediction model corresponding to the attributes of the object to be tracked is used to predict the estimated position to which the object to be tracked will move and the time point when it moves to the estimated position based on the target position; if the estimated position is within the target area and in a blind spot that cannot be captured by the camera, a second handheld terminal that can reach the estimated position at the time point is determined, and a shooting request for indicating the estimated position and the time point is sent to the second handheld terminal, so that the user of the second handheld terminal can shoot the object to be tracked at the estimated position at the time point based on the shooting request.

[0104] If the corresponding shootable areas of all cameras do not contain the target position, and the target position is detected to be contained in the target area, it means that the object to be tracked is located in a blind spot that cannot be captured by the camera. At this time, taking into account the mobility of some types of objects to be tracked, a path prediction model corresponding to the attributes of the object to be tracked can be used to predict the estimated position to which the object to be tracked will move and the time point when it moves to the estimated position based on the target position. Objects to be tracked with different attributes have corresponding path prediction models. The path prediction model is a model obtained through prior knowledge training. The path prediction model can predict the estimated position to which the object to be tracked will move and the time point when it moves to the estimated position based on the current position of the object to be tracked with the corresponding attribute.

[0105] If the estimated position is within the target area and in a blind spot that cannot be captured by the camera, a second handheld terminal that can reach the estimated position at a point in time is determined based on the estimated position and the current position of the handheld terminal included in the security system, and then a shooting request indicating the estimated position and the time point is sent to the second handheld terminal, so that the user of the second handheld terminal can shoot the object to be tracked at the estimated position at the time point based on the shooting request.

[0106] Furthermore, if the estimated position is within the target area, and the corresponding photographable area of ​​the camera in the security system includes the estimated position, it means that after the object to be tracked moves, the object to be tracked is most likely no longer located in the blind spot that the camera cannot capture. The camera in the security system can capture the object to be tracked. Therefore, there is no need to notify the handheld terminal, and only the step of prompting that the object to be tracked is located in the blind spot that the camera cannot capture is required.

[0107] Furthermore, if the estimated position is not within the target area, it means that after the object to be tracked moves, it is likely to be out of the monitoring of the security system. Therefore, there is no need to notify the handheld terminal, and only the step of prompting that the object to be tracked is in a blind spot that cannot be captured by the camera is executed.

[0108] The above two processes can be used separately or in combination based on business needs, which is not limited in this embodiment. For example, when used in combination, the first method is used first, and after the first method concludes that there is no first handheld terminal whose target distance is less than the preset distance among the handheld terminals included in the security system, the second method is continued.

[0109] In some embodiments of the present application, some types of objects to be tracked have the characteristic of moving. Therefore, in order to achieve real-time tracking of moving objects to be tracked, the object tracking method provided in this embodiment may also include the following steps: real-time monitoring of whether the position of the object to be tracked changes; if changes occur, updating the current target position of the object to be tracked based on the changed position.

[0110] If the real-time monitoring detects that the position of the object to be tracked changes, it means that the object to be tracked has moved, and the currently selected target camera may no longer be able to capture the object to be tracked or may no longer be able to capture the object to be tracked clearly. Therefore, the changed position is updated to the current target position of the object to be tracked, so that based on the updated target position, step 102 is re-executed to select the camera whose shooting area includes the target position as the target camera, and the subsequent process is performed based on the selected target camera.

[0111] If the position of the object to be tracked does not change during real-time monitoring, it means that the object to be tracked has not moved. The currently selected target camera can still continue to shoot the object to be tracked, and the target camera can continue to be used.

[0112] Furthermore, an embodiment of the present application also provides an object tracking device, such as Figure 3 As shown, the object tracking device is applied to a security system, wherein the security system includes a plurality of cameras, each of which has a corresponding photographable area, and the object tracking device includes:

[0113] An acquisition module 21 is used to acquire the current target position of the object to be tracked;

[0114] A selection module 22, configured to select a camera whose photographable area includes the target position as a target camera;

[0115] A determination module 23, configured to determine camera shooting parameters required for each target camera to shoot the object to be tracked based on the target position and the position of each selected target camera;

[0116] The control module 24 is used to control each of the target cameras to shoot the object to be tracked based on the camera shooting parameters.

[0117] The object tracking device provided in the embodiment of the present application, when there is an object to be tracked, obtains the current target position of the object to be tracked, and selects the camera in the security system whose shooting area includes the target position as the target camera. Then, based on the target position and the location of each selected target camera, the camera shooting parameters required for each target camera to shoot the object to be tracked are determined. Finally, based on the camera shooting parameters, each target camera is controlled to shoot the object to be tracked. It can be seen that the solution provided in the embodiment of the present application can select a target camera that can shoot the object to be tracked from the security system, and control the target camera to track and shoot the object to be tracked with appropriate camera shooting parameters. In this way, the security system can track the object to be tracked through the target camera, thereby realizing the security system has the ability to track objects, and then enables the security system to timely perform security prevention and control based on the images captured by tracking.

[0118] In some embodiments of the present application, Figure 4 As shown, the determination module 23 is specifically used for: for each target camera: determining a three-dimensional coordinate system corresponding to the target camera, the three-dimensional coordinate system takes the position of the target camera as the origin, the current orientation of the target camera as the positive direction of the X-axis, and the Z-axis of the three-dimensional coordinate system is perpendicular to the plane where the X-axis and the Y-axis are located; determining a first coordinate corresponding to the target position in the three-dimensional coordinate system and a second coordinate corresponding to the position of the target camera in the three-dimensional coordinate system; based on the first coordinate and the second coordinate, determining a first angle required between the optical axis of the target camera for photographing the object to be tracked and the positive direction of the X-axis and a second angle required between the optical axis of the target camera and the negative direction of the Z-axis; and determining the first angle and the second angle as the camera shooting parameters required for the target camera to shoot the object to be tracked.

[0119] In some embodiments of the present application, Figure 4 As shown, the determination module 23 is also used to detect whether the target camera is a fixed camera before determining the three-dimensional coordinate system corresponding to the target camera; if so, the current orientation and current tilt angle of the target camera are determined as the camera shooting parameters required for the target camera to shoot the object to be tracked; if not, the step of determining the three-dimensional coordinate system corresponding to the target camera is executed.

[0120] In some embodiments of the present application, Figure 4 As shown, the object tracking device provided in this embodiment may also include:

[0121] The first determination module 25 is used for determining, for each target camera selected by the selection module 22: based on the first coordinate and the second coordinate, the distance between the target position and the position of the target camera; based on the distance, the first angle and the second angle, determining the target parameters required for the target camera to shoot the object to be tracked, and adding the target parameters to the camera shooting parameters required for the target camera to shoot the object to be tracked, wherein the target parameters include at least one of the following: field of view angle, focal length.

[0122] In some embodiments of the present application, Figure 4 As shown, the object tracking device provided in this embodiment may also include:

[0123] The second determination module 26 is used for determining the brightness information of the target position for each target camera selected by the selection module 22, determining exposure parameters suitable for the brightness information, and adding the exposure parameters to the camera shooting parameters required by the target camera to shoot the object to be tracked.

[0124] In some embodiments of the present application, Figure 4 As shown, each object of each attribute has corresponding target brightness information. Then, the second determination module 26 is specifically used to determine the target brightness information corresponding to the object to be tracked based on the attribute of the object to be tracked; based on the target brightness information, determine whether the brightness of the object to be tracked is higher than the ambient brightness of the target position; if higher, determine the brightness information of the target position based on the target brightness information and the ambient brightness of the target position; if not higher, determine the brightness information of the target position based on the ambient brightness of the target position.

[0125] In some embodiments of the present application, Figure 4 As shown, the object tracking device provided in this embodiment may also include:

[0126] The detection module 27 is used to detect whether the target position is included in the target area if the corresponding photographable areas of all cameras do not include the target position obtained by the acquisition module 21. The target area is the area that can be monitored by the security system and includes the photographable areas of all cameras; if it is included, the prompt module 28 is triggered to prompt that the object to be tracked is located in a blind spot that cannot be captured by the camera; if it is not included, the prompt module 28 is triggered to prompt that the object to be tracked has left the monitoring of the security system.

[0127] In some embodiments of the present application, Figure 4As shown, the security system further includes at least one handheld terminal with a shooting function, and each handheld terminal is carried by a corresponding user. Then, the object tracking device provided in this embodiment may also include:

[0128] The first control module 29 is used to determine the target distance between the current position of each of the handheld terminals and the target position if it is detected that the target position obtained by the acquisition module 21 is included in the target area; if there is a first handheld terminal whose target distance is less than a preset distance, a shooting request for indicating the target position is sent to the first handheld terminal, so that the user of the first handheld terminal can shoot the object to be tracked at the target position based on the shooting request.

[0129] In some embodiments of the present application, Figure 4 As shown, the object tracking device provided in this embodiment may also include:

[0130] The second management and control module 30 is used to, if it is detected that the target position obtained by the acquisition module 21 is included in the target area, use a path prediction model corresponding to the attributes of the object to be tracked to predict the estimated position to which the object to be tracked is about to move and the time point when it moves to the estimated position based on the target position; if the estimated position is within the target area and in a blind spot that cannot be captured by the camera, determine a second handheld terminal that can reach the estimated position at the time point, and send a shooting request indicating the estimated position and the time point to the second handheld terminal, so that the user of the second handheld terminal can shoot the object to be tracked at the estimated position at the time point based on the shooting request.

[0131] In some embodiments of the present application, Figure 4 As shown, the photographable area has a corresponding coordinate range in the preset coordinate system, then the selection module 22 is specifically used to determine the target coordinates corresponding to the target position obtained by the acquisition module 21 in the preset coordinate system; detect whether there is a coordinate range containing the target coordinates; if so, determine the target photographable area corresponding to the corresponding coordinate range, and select the camera corresponding to the target photographable area as the target camera.

[0132] In some embodiments of the present application, Figure 4 As shown, the acquisition module 21 is also used to monitor in real time whether the position of the object to be tracked changes; if it changes, the current target position of the object to be tracked is updated based on the changed position.

[0133] In some embodiments of the present application, Figure 4 As shown, the object tracking device provided in this embodiment may also include:

[0134] The evaluation module 31 is used to evaluate whether the object to be tracked can be highlighted in the image captured by the camera; if not, the rendering function of the target camera selected by the selection module 22 is turned on, and the rendering function is used to enable the camera to highlight the object to be tracked in the captured image.

[0135] In the object tracking device provided in the embodiment of the present application, the detailed explanations used in the operation of each functional module can be found in the corresponding detailed explanations of the above-mentioned object tracking method embodiment, which will not be repeated here.

[0136] Furthermore, an embodiment of the present application also provides a computer-readable storage medium, wherein the storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the above-mentioned object tracking method.

[0137] Furthermore, an embodiment of the present application also provides an electronic device, which includes: a memory for storing a program; and a processor, coupled to the memory, for running the program to execute the above-mentioned object tracking method.

[0138] In the above embodiments, the acquisition and use of data in the embodiments are in compliance with the provisions of laws and regulations. In addition, in the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in one embodiment, please refer to the relevant description of other embodiments.

[0139] It is understandable that the related features in the above methods and devices can be referenced to each other. In addition, the "first", "second" and the like in the above embodiments are used to distinguish the embodiments, but do not represent the advantages and disadvantages of the embodiments.

[0140] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0141] The algorithm and display provided herein are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the teachings based on this. According to the above description, it is obvious to construct the structure required for this type of system. In addition, the application is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to realize the content of the application described herein, and the description of the above specific language is to disclose the preferred embodiment of the application.

[0142] In addition, the memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0143] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0144] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data cutover device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data cutover device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0145] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data switching device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0146] These computer program instructions can also be loaded onto a computer or other programmable data transfer device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0147] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0148] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0149] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0150] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0151] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0152] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. An object tracking method, characterized in that: Applied to a security system, the security system includes a plurality of cameras, each of the cameras has a corresponding photographable area, and the method includes: Get the current target position of the object to be tracked; A camera whose shooting area includes the target position is selected as a target camera; Based on the target position and the position of each selected target camera, determining the camera shooting parameters required for each target camera to shoot the object to be tracked; Based on the camera shooting parameters, each of the target cameras is controlled to shoot the object to be tracked.

2. The method according to claim 1, characterized in that Based on the target position and the position of each selected target camera, determining the camera shooting parameters required for each target camera to shoot the object to be tracked, including: For each of the target cameras: determine a three-dimensional coordinate system corresponding to the target camera, wherein the three-dimensional coordinate system takes the position of the target camera as the origin, the current orientation of the target camera as the positive direction of the X-axis, and the Z-axis of the three-dimensional coordinate system is perpendicular to the plane where the X-axis and the Y-axis are located; determine a first coordinate corresponding to the target position in the three-dimensional coordinate system and a second coordinate corresponding to the position of the target camera in the three-dimensional coordinate system; based on the first coordinate and the second coordinate, determine a first angle required between the optical axis of the target camera for photographing the object to be tracked and the positive direction of the X-axis and a second angle required between the optical axis of the target camera and the negative direction of the Z-axis; determine the first angle and the second angle as the camera shooting parameters required for the target camera to photograph the object to be tracked.

3. The method according to claim 2, characterized in that Before determining the three-dimensional coordinate system corresponding to the target camera, the method further includes: detecting whether the target camera is a fixed camera; if so, determining the current orientation and current tilt angle of the target camera as the camera shooting parameters required for the target camera to shoot the object to be tracked; if not, executing the step of determining the three-dimensional coordinate system corresponding to the target camera; and / or, The method further includes: for each of the target cameras: determining the distance between the target position and the position of the target camera based on the first coordinate and the second coordinate; determining target parameters required for the target camera to photograph the object to be tracked based on the distance, the first angle and the second angle, and adding the target parameters to the camera shooting parameters required for the target camera to photograph the object to be tracked, wherein the target parameters include at least one of the following: field of view angle, focal length; and / or, The method further includes: for each of the target cameras: determining brightness information of the target position, determining exposure parameters suitable for the brightness information, and adding the exposure parameters to camera shooting parameters required by the target camera to shoot the object to be tracked.

4. The method according to claim 3, characterized in that Each object of each attribute has corresponding target brightness information, and determining the brightness information of the target position includes: Based on the attributes of the object to be tracked, determining target brightness information corresponding to the object to be tracked; Based on the target brightness information, determining whether the brightness of the object to be tracked is higher than the ambient brightness of the target position; If it is higher, determining the brightness information of the target position based on the target brightness information and the ambient brightness of the target position; If not, the brightness information of the target position is determined based on the ambient brightness of the target position.

5. The method according to claim 1, characterized in that The method further comprises: If the corresponding shooting areas of all cameras do not include the target position, then detect whether the target position is included in the target area, where the target area is an area that can be monitored by the security system and includes the shooting areas of all cameras; If included, it is prompted that the object to be tracked is in a blind spot that cannot be captured by the camera; If not, it indicates that the object to be tracked has escaped from the monitoring of the security system.

6. The method according to claim 5, characterized in that The security system further includes at least one handheld terminal with a shooting function, and each handheld terminal is carried by a corresponding user. Then, the method further includes: If it is detected that the target position is included in the target area, determining the target distance between the current position of each of the handheld terminals and the target position; if there is a first handheld terminal whose target distance is less than a preset distance, sending a shooting request for indicating the target position to the first handheld terminal, so that the user of the first handheld terminal shoots the object to be tracked at the target position based on the shooting request; and / or, If it is detected that the target position is included in the target area, a path prediction model corresponding to the attributes of the object to be tracked is used to predict the estimated position to which the object to be tracked is about to move and the time point when it moves to the estimated position based on the target position; if the estimated position is within the target area and in a blind spot that cannot be captured by the camera, a second handheld terminal that can reach the estimated position at the time point is determined, and a shooting request for indicating the estimated position and the time point is sent to the second handheld terminal, so that the user of the second handheld terminal can shoot the object to be tracked at the estimated position at the time point based on the shooting request.

7. The method according to any one of claims 1 to 6, characterized in that The photographable area has a corresponding coordinate range in the preset coordinate system, then the camera whose photographable area includes the target position is selected as the target camera, including: determining the target coordinates corresponding to the target position in the preset coordinate system; detecting whether there is a coordinate range including the target coordinates; if so, determining the target photographable area corresponding to the corresponding coordinate range, and selecting the camera corresponding to the target photographable area as the target camera; and / or, The method further includes: monitoring in real time whether the position of the object to be tracked changes; if a change occurs, updating the current target position of the object to be tracked based on the changed position; and / or, The method further includes: evaluating whether the object to be tracked can be highlighted in the image captured by the camera; if not, turning on the rendering function of the target camera, wherein the rendering function is used to enable the camera to highlight the object to be tracked in the captured image.

8. An object tracking device, characterized in that: Applied to a security system, the security system includes a plurality of cameras, each of the cameras has a corresponding photographable area, and the device includes: An acquisition module is used to obtain the current target position of the object to be tracked; A selection module, used for selecting a camera whose shooting area includes the target position as a target camera; A determination module, used for determining camera shooting parameters required for each target camera to shoot the object to be tracked based on the target position and the position of each selected target camera; A control module is used to control each of the target cameras to shoot the object to be tracked based on the camera shooting parameters.

9. A computer-readable storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the object tracking method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device comprises: Memory, used to store programs; A processor, coupled to the memory, is configured to run the program to execute the object tracking method according to any one of claims 1 to 7.

Images