Target object tracking method and device

Abstract

The embodiments of the present application provide a method and device for tracking a target object. The target object tracking method includes: obtaining the tracking trajectory of the current object on the target object; splitting the tracking trajectory into multiple time periods, wherein the time period includes multiple tracking moments; obtaining the average tracking error value of the current time period among the multiple time periods and the tracking error value of the last tracking moment in the current time period; when the average tracking error value or the tracking error value of the last tracking moment does not meet the preset conditions, determining that the tracking status of the current object and the target object is incorrect, and generating an alarm message. The technical solution of the embodiments of the present application can save computing resources while achieving effective tracking.

Description

Technical Field

[0001] The present application relates to the field of computer and communication technology, and in particular to a method and device for tracking a target object. Background Art

[0002] With the rapid development of science and technology in recent years, the tracking of target objects has been increasingly widely used. However, the existing technology has very strict requirements on the tracking system and has a limited scope of use. In the field of civilian vehicle tracking and capture, it is very wasteful to strictly reduce the tracking error over time, such as computing and equipment resources. This strict requirement is very wasteful and cannot be applied to occasions where the requirements for tracking error are loose and the resources for tracking are relatively limited. Summary of the invention

[0003] The embodiments of the present application provide a method and device for tracking a target object, thereby being able to achieve effective tracking of the target object while saving computing resources at least to a certain extent.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to one aspect of an embodiment of the present application, a target object method is provided, comprising: obtaining a tracking trajectory of a current object with respect to a target object; splitting the tracking trajectory into multiple time periods, wherein the time period includes multiple tracking moments; obtaining an average tracking error value of a current time period among the multiple time periods and a tracking error value of a last tracking moment in the current time period; when the average tracking error value or the tracking error value of the last tracking moment does not meet a preset condition, determining that the tracking status of the current object and the target object is incorrect, and generating an alarm message.

[0006] According to one aspect of an embodiment of the present application, a target object tracking device is provided, comprising: a first acquisition module, used to acquire a tracking trajectory of a current object with respect to a target object; a splitting module, used to split the tracking trajectory into multiple time periods, wherein the time period includes multiple tracking moments; a second acquisition module, used to acquire an average tracking error value of a current time period among the multiple time periods and a tracking error value of a last tracking moment in the current time period; and a determination module, used to determine that the tracking status of the current object and the target object is incorrect and generate an alarm message when the average tracking error value or the tracking error value of the last tracking moment does not meet a preset condition.

[0007] In some embodiments of the present invention, based on the above solution, the determination module is configured to: if the tracking error value at the last tracking moment is greater than the tracking error limit, determine that the preset condition is not met.

[0008] In some embodiments of the present invention, based on the above solution, the determination module is configured to: if the tracking error value of the last tracking moment is greater than the tracking error values ​​of other tracking moments in the tracking trajectory, determine that the preset condition is not met.

[0009] In some embodiments of the present invention, based on the aforementioned scheme, the splitting module includes: a splitting unit, used to split the tracking trajectory into multiple time periods including a current time period and a specific time period; the determination module is configured as: if the average tracking error value of the specific time period is greater than the average tracking error value of the current time period, it is determined that the preset condition is not met.

[0010] In some embodiments of the present invention, based on the aforementioned scheme, the splitting unit includes: an acquisition subunit, used to acquire the current time period; a determination subunit, used to determine a specific time period based on the current time period and a preset number of moments; and a splitting subunit, used to split the tracking trajectory according to the current time period and the specific time period to obtain multiple time periods including the current time period and the specific time period.

[0011] In some embodiments of the present invention, based on the aforementioned scheme, the determination subunit is configured as: obtaining the first tracking moment in a specific time period based on the last tracking moment in the current time period and the preset number of moments; obtaining the number of moments included in the specific time period based on the preset number of moments and the number of moments included in the current time period; obtaining the specific time period based on the number of moments included in the specific time period and the first tracking moment in the specific time period.

[0012] In some embodiments of the present invention, based on the aforementioned scheme, the determination subunit is configured as: obtaining the first tracking moment in a specific time period based on the last tracking moment in the current time period and a preset number of moments; selecting any tracking moment in the current time period and using the tracking moment as the last tracking moment in the specific time period; obtaining the specific time period based on the first tracking moment in the specific time period and the last tracking moment in the specific time period.

[0013] In some embodiments of the present invention, based on the aforementioned scheme, the determination subunit is configured as: obtaining the first tracking moment in a specific time period according to the last tracking moment in the current time period and a preset number of moments; selecting any tracking moment between the first tracking moment in the current time period and the first tracking moment in the specific time period, and using the tracking moment as the last tracking moment in the specific time period; obtaining the first time period according to the first tracking moment in the specific time period and the last tracking moment in the specific time period.

[0014] In some embodiments of the present invention, based on the aforementioned scheme, the device is further configured to: if the tracking error value of the last tracking moment is less than the tracking error limit, and the tracking error value of the last tracking moment is less than the tracking error values ​​of other tracking moments in the tracking trajectory, and the average tracking error value of the current time period is less than the average tracking error value of any other time period in the multiple time periods, then maintain the tracking state of the current object and the target object.

[0015] According to one aspect of an embodiment of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the channel determination method as described in the above embodiment is implemented.

[0016] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the channel determination method as described in the above embodiments.

[0017] In the technical solutions provided in some embodiments of the present application, by splitting the tracking trajectory into multiple time periods, it is determined whether the tracking state of the target object is incorrect according to the average tracking error value of the current time period among the multiple time periods or the tracking error value of the last tracking moment in the current time period. When the average tracking error value of the current time period or the tracking error value of the last tracking moment in the current time period does not meet the preset conditions, it is determined that the tracking is incorrect. When the average tracking error value of the current time period or the tracking error value of the last tracking moment in the current time period meets the preset conditions, it is determined that the tracking is correct. The technical solution in the present application can ensure that the tracking error of the system decreases with the passage of time, thereby achieving effective tracking of the target object and saving system computing resources while achieving effective tracking.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0020] Figure 1 A schematic diagram showing an exemplary system architecture to which the technical solution of the embodiments of the present application can be applied;

[0021] Figure 2 A flow chart of a target object tracking method according to an embodiment of the present application is shown;

[0022] Figure 3 A flow chart of a target object tracking method according to an embodiment of the present application is shown;

[0023] Figure 4 A flow chart of a target object tracking method according to an embodiment of the present application is shown;

[0024] Figure 5 A flow chart of a target object tracking method according to an embodiment of the present application is shown;

[0025] Figure 6 A flow chart of a target object tracking method according to an embodiment of the present application is shown;

[0026] Figure 7 A flow chart of a target object tracking method according to an embodiment of the present application is shown;

[0027] Figure 8 A block diagram of a target object tracking device according to an embodiment of the present application is shown;

[0028] Fig. 9 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0030] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0031] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0032] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0033] Figure 1 A schematic diagram of an exemplary system architecture to which the technical solution of the embodiments of the present application can be applied is shown.

[0034] like Figure 1 As shown, the system architecture may include a central cloud application server 101 , an edge cloud application server 102 , a core network 103 , a target object 104 , a current object 105 and a network 106 .

[0035] The central cloud application server 101 is used to provide central cloud services. The central cloud refers to cloud computing in a centralized data center. Currently, most existing cloud services are almost all central clouds. Often, only a few data centers (DCs) are configured throughout the country. From the topological perspective of mobile communication networks (such as 4G / 5G networks), they are deployed after the core network. The central cloud can concentrate resources and expand flexibly to cope with large-scale business scenarios such as e-commerce and Software-as-a-Service (SaaS) applications. The central cloud application server 101 exchanges information with the target object 104 and the current object 105 through the edge cloud application server 102.

[0036] The edge cloud application server 102 is used to provide edge cloud application services. Edge cloud refers to distributed cloud computing or cloud services that are closer to users, have higher bandwidth, and lower latency. From the topological perspective of mobile communication networks (such as 4G / 5G networks), edge cloud refers to cloud services deployed before the core network. Edge cloud can support services with high bandwidth, low latency, real-time, security, and interactivity, such as 4K video, augmented reality (AR) interactive entertainment, unmanned driving, the Internet of Things, and smart parks.

[0037] The core network 103 can be used to carry information interaction between the edge cloud and the central cloud. The target object 104 and the current object 105 are any objects with positioning functions, such as sweeping robots, drones, and cars. The target object 104 is the tracking object of the current object 105. The current object 105 can track and locate the target object 04. The current object 105 can obtain its own positioning information through its own positioning module, and obtain the self-positioning information of the target object 104 through the communication module in the current object 105. After obtaining its own positioning information, the current object 105 can realize the positioning of the target object 104 according to the obtained self-positioning information of the target object 104 and the self-positioning information of the current object 105, obtain the tracking and positioning information for the target object 104, and obtain the tracking error value for the target object 104 according to the tracking and positioning information and the self-positioning information of the target object 104.

[0038] The network 106 may include but is not limited to: a wireless network, a wired network, and the wired network includes but is not limited to at least one of the following: a wide area network, a metropolitan area network, and a local area network. The wireless network includes but is not limited to at least one of the following: Bluetooth, TIFI, and near field communication (NFC). The target object 104 and the current object 105 can interact with the edge cloud application server 102 through the network 106 to receive or send messages, etc.

[0039] Optionally, the system may further include a camera device not shown in the figure, which may be a monocular camera, a binocular camera, or an RGB-D (Red-Green-Blue-Deep) camera, etc. The camera device may be deployed in various places, such as a corner of the ceiling inside a building, a lamp post outside a building, or even on a client device such as an intelligent robot.

[0040] In one embodiment of the present invention, the central cloud application server 101 first sends an object recognition command to the edge cloud application server 102, the edge cloud application server 102 receives the object recognition command from the central cloud application server 101, and then sends the command to the camera device to enable the camera device to capture image data, and then the edge cloud application server 102 obtains the image data from the camera device and sends it to the central application server 101, so that the central application server 101 recognizes the target object 104 and the current object 105.

[0041] In one embodiment of the present invention, after the central cloud application server 101 identifies the target object 104 and the current object 105, it can send a request to the current object 105 to obtain the tracking trajectory of the current object 105 with respect to the target object 104. The tracking trajectory includes multiple tracking moments, each tracking moment corresponds to a tracking error value, and the tracking error value can be calculated by the error calculation module of the current object 105, and then sent by the current object 105 to the central cloud application server 101.

[0042] In one embodiment of the present invention, after the central cloud application server 101 obtains the tracking trajectory formed by multiple tracking moments, the tracking trajectory can be divided into multiple time periods, each time period includes multiple tracking moments, and then the tracking status of the current object 104 and the target object 105 is judged whether it is incorrect based on the average tracking error value of the current time period among the multiple time periods and the tracking error value of the last tracking moment in the current time period, and an alarm message is generated.

[0043] It should be understood that Figure 1 The number of current objects, target objects, networks and servers in the example is only illustrative. Depending on the implementation requirements, there can be any number of current objects, target objects, networks and servers.

[0044] Figure 2 FIG. 1 is a flow chart of a target object tracking method according to an embodiment of the present application. The channel determination method may be executed by a central application server. Figure 2 As shown, the method includes:

[0045] Step S210, obtaining the tracking trajectory of the current object on the target object;

[0046] Step S220, splitting the tracking trajectory into multiple time periods, wherein the time period includes multiple tracking moments;

[0047] Step S230, obtaining an average tracking error value of the current time period among the multiple time periods and a tracking error value at the last tracking moment in the current time period;

[0048] Step S240: When the average tracking error value or the tracking error value at the last tracking moment does not meet a preset condition, it is determined that the tracking state of the current object and the target object is incorrect, and an alarm message is generated.

[0049] The implementation details of the technical solution of the embodiment of the present application are described in detail below:

[0050] In step S210, the tracking trajectory of the current object on the target object is obtained.

[0051] In one embodiment of the present invention, the target object and the current object are any object with a positioning function, such as a sweeping robot, a drone, and a car, etc. The target object is the tracking object of the current object, and the current object can track and locate the target object.

[0052] In one embodiment of the present invention, the tracking trajectory is a trajectory formed by the current object positioning and tracking the target object. The current object can obtain its own positioning information through its own positioning module, and obtain the self-positioning information of the target object through the communication module in the current object. After obtaining its own positioning information, the current object can realize the positioning of the target object according to the obtained self-positioning information of the target object and the self-positioning information of the current object, obtain the tracking and positioning information for the target object, and calculate the tracking error value for the target object according to the tracking and positioning information and the self-positioning information of the target object through the error calculation module in the current object. Therefore, it can be understood that the tracking trajectory is a trajectory formed by the corresponding relationship between the tracking moment and the tracking error value, and each tracking moment corresponds to a tracking error.

[0053] In one embodiment of the present invention, after the error calculation module in the current object calculates the tracking error value, the tracking error value may be sent to the server in real time, and the server performs real-time processing. It is understandable that, although the embodiment of the present application is limited to sending the tracking error value in real time, the embodiment of the present application can also be applied to the case where the tracking error value is sent to the server in non-real time, that is, the tracking error value may be pre-stored in the server, and the server may store it in advance and then process it. For example, the processing is performed when the server has fewer processing tasks, or the processing is performed at the specified time of the operator.

[0054] Continue to see Figure 2 In step S220, the tracking trajectory is divided into multiple time periods, wherein the time period includes multiple tracking moments.

[0055] In one embodiment of the present invention, since the tracking trajectory is a trajectory formed by the corresponding relationship between the tracking moments and the tracking error values, the tracking trajectory can be split to obtain multiple time periods, each of which includes multiple tracking moments.

[0056] In one embodiment of the present invention, the splitting method can be to evenly split according to the number of global tracking moments so that each time period contains the same number of moments, or it can be randomly split into multiple time periods, which is not limited by the present invention.

[0057] Continue to see Figure 2In step S230, the average tracking error value of the current time period among the multiple time periods and the tracking error value of the last tracking moment in the current time period are obtained.

[0058] As mentioned above, when the current object sends the tracking error value to the server in real time and the server processes it in real time, the current time period among multiple time periods is the time period including the current tracking moment, and the number of moments included in the current time period is not limited.

[0059] In one embodiment of the present invention, the tracking error value is calculated by the error calculation module of the current object. As the target object and the current object move, the positioning information of the target object and the current object also changes. At the same time, the tracking and positioning information obtained by the current object tracking and positioning the target object also changes. The tracking error value calculated by the error calculation module of the current object based on the tracking and positioning information will also change.

[0060] In one embodiment of the present invention, each tracking moment has a corresponding tracking error value. The average tracking error value of the current time period can be determined by obtaining the tracking error values ​​of each tracking moment in the current time period. The average tracking error value of the current time period can be obtained by adding the tracking error values ​​of each tracking moment in the current time period and averaging them.

[0061] Continue to see Figure 2 In step S240, when the average tracking error value or the tracking error value at the last tracking moment does not meet the preset condition, it is determined that the tracking state of the target object is incorrect and an alarm message is generated.

[0062] Existing tracking systems have very strict requirements on tracking error. If the tracking error value at the current tracking moment is not less than the tracking error value at the previous tracking moment, the tracking is incorrect. However, a tracking system that requires the tracking error to be strictly reduced over time actually wastes computing and equipment resources.

[0063] In one embodiment of the present application, a preset condition is judged on the average tracking error value of the current time period or the tracking error value of the last tracking moment of the current time period, and whether the tracking is incorrect is determined based on the judgment result. When the average tracking error value or the tracking error value of the last tracking moment does not meet the preset condition, it is determined that the tracking status of the target object is incorrect, and an alarm message is generated.

[0064] In one embodiment of the present invention, the average tracking error value or the tracking error value at the last tracking moment does not meet the preset condition, which may specifically be:

[0065] If the tracking error value at the last tracking moment is greater than the tracking error limit, it is determined that the preset condition is not met.

[0066] In this embodiment, the tracking error limit is pre-set. By judging the difference between the tracking error value at the last tracking moment in the current time period and the tracking error limit, when the tracking error value at the last tracking moment is greater than the tracking error limit, it is determined that the preset condition is not met.

[0067] In one embodiment of the present invention, the average tracking error value or the tracking error value at the last tracking moment not meeting the preset condition may also be:

[0068] If the tracking error value at the last tracking moment is greater than the tracking error values ​​at other tracking moments in the tracking trajectory, it is determined that the preset condition is not met.

[0069] In this embodiment, the tracking error values ​​of other tracking moments in the tracking trajectory refer to all tracking moments except the last tracking moment in the current time period. When the tracking error value of the last tracking moment is greater than the tracking error values ​​of other tracking moments, it is determined that the preset condition is not met.

[0070] In one embodiment of the present invention, the average tracking error value of the current time period or the tracking error value of the last tracking moment of the current time period is judged according to a preset condition, and whether the tracking is wrong is determined according to the judgment result, so the method further includes:

[0071] If the tracking error value at the last tracking moment is less than the tracking error limit, and the tracking error value at the last tracking moment is less than the tracking error values ​​at other tracking moments in the tracking trajectory, and the average tracking error value of the current time period is less than the average tracking error value of any other time period in the multiple time periods, then the tracking state of the target object is maintained.

[0072] In this embodiment, contrary to the aforementioned situation where the preset conditions are not met, when the tracking error value at the last tracking moment in the current time period is less than the tracking error limit, and the tracking error value at the last tracking moment in the current time period is less than the tracking error values ​​at other tracking moments in the tracking trajectory, and the average tracking error value in the current time period is less than the average tracking error value of any other time period in the multiple time periods, it is determined that the tracking state of the target object is correct, and the tracking state of the target object is maintained.

[0073] The technical solution of this embodiment divides the tracking trajectory into multiple time periods, and determines whether the tracking state of the target object is incorrect based on the average tracking error value of the current time period among the multiple time periods or the tracking error value of the last tracking moment in the current time period. The technical solution of this application can ensure that the tracking error decreases over time, thereby achieving effective tracking of the target object, and can save computing resources of the tracking system while ensuring that the tracking error decreases over time.

[0074] Figure 3 A flow chart of a target object tracking method according to an embodiment of the present application is shown.

[0075] like Figure 3 As shown, the method includes:

[0076] Step S310: generating a tracking trajectory according to the positions of the current object and the target object;

[0077] Step S320, splitting the tracking trajectory into multiple time periods including a current time period and a specific time period, wherein the time period includes multiple tracking moments;

[0078] Step S330, obtaining an average tracking error value of the current time period among the multiple time periods and a tracking error value at the last tracking moment in the current time period;

[0079] Step S340: If the average tracking error value of the specific time period is greater than the average tracking error value of the current time period, it is determined that the preset condition is not met. When the preset condition is not met, it is determined that the tracking status of the current object and the target object is incorrect, and an alarm message is generated.

[0080] The implementation details of the technical solution of the embodiment of the present application are described in detail below:

[0081] Step S310 is the same as step S210, and step S330 is the same as step S230, so they are not described again.

[0082] In step S320, the tracking trajectory is divided into a plurality of time periods including a current time period and a specific time period, wherein the time period includes a plurality of tracking moments.

[0083] In one embodiment of the present invention, the tracking trajectory can be divided into multiple time periods including the current time period and the specific time period. The current time period is a time period including the current moment, and the specific time period refers to a time period that satisfies a specific condition, and the specific condition can be that the specific time period has a specific number of moments, or that the specific time period differs from the current time period by a specific number of moments, or that the total number of moments between the specific time period and the current time period is a specific number of moments.

[0084] In one embodiment of the present invention, the specific time period may be determined based on the current time period, see Figure 4 , step S320 may specifically include the following steps S3201 to S3203, which are described in detail as follows:

[0085] Step S3201, obtain the current time period.

[0086] When image data is collected in real time by a camera device and a tracking trajectory is generated using the position information of the target object in the real-time collected image data, a current time period including the current tracking moment is obtained, wherein the current tracking moment is the last tracking moment of the current time period.

[0087] Step S3202: determine a specific time period according to the current time period and a preset time number.

[0088] The specific time period refers to a time period that meets specific conditions. The specific condition may be that the specific time period has a specific number of moments, that the specific time period differs from the current time period by a specific number of moments, or that the total number of moments between the specific time period and the current time period is a specific number of moments.

[0089] In one embodiment of the present invention, the preset number of moments may be the total number of moments between the preset specific time period and the current time period. The specific time period is determined according to the current time period and the preset number of moments.

[0090] In one embodiment of the present invention, determining the specific time period according to the current time period and the preset number of moments may be determining the number of moments included in the specific time period and the first tracking moment of the specific time period, thereby obtaining the specific time period, see Figure 5 , step S3202 may specifically include the following steps S510 to S530:

[0091] Step S510, obtaining the first tracking moment in a specific time period according to the last tracking moment in the current time period and the preset number of moments;

[0092] Step S520, obtaining the number of moments included in a specific time period according to the preset number of moments and the number of moments included in the current time period;

[0093] Step S530: Obtain the specific time period according to the number of moments included in the specific time period and the first tracking moment in the specific time period.

[0094] These steps are described in detail below:

[0095] In step S510, the first tracking moment in a specific time period is obtained according to the last tracking moment in the current time period and a preset number of moments.

[0096] In one embodiment of the present invention, the preset number of moments may be the total number of moments between a preset specific time period and the current time period, and thus the first tracking moment in the specific time period may be obtained based on the last tracking moment in the current time period and the preset number of moments.

[0097] Continue to see Figure 5 In step S520, the number of moments included in the specific time period is obtained according to the preset number of moments and the number of moments included in the current time period.

[0098] In one embodiment of the present invention, the preset number of moments may be the total number of moments between a preset specific time period and the current time period. Therefore, the number of moments included in the specific time period may be obtained based on the preset number of moments and the number of moments included in the current time period.

[0099] Continue to see Figure 5 In step S530, the specific time period is obtained according to the number of moments included in the specific time period and the first tracking moment in the specific time period.

[0100] After the first tracking moment in the specific time period is determined in step S510 and the number of moments included in the specific time period is determined in step S520, the specific time period can be determined.

[0101] In one embodiment of the present invention, determining the specific time period according to the current time period and the preset time number may be determining the first tracking time in the specific time period and the last tracking time in the specific time period, thereby obtaining the specific time period, see Figure 6 , step S3202 may further specifically include the following steps S610 to S630:

[0102] Step S610, obtaining the first tracking moment in a specific time period according to the last tracking moment in the current time period and the preset number of moments;

[0103] Step S620, selecting any tracking moment in the current time period, and using the tracking moment as the last tracking moment in the specific time period;

[0104] Step S630: Obtain the specific time period according to the first tracking moment in the specific time period and the last tracking moment in the specific time period.

[0105] These steps are described in detail below:

[0106] In step S610, the first tracking moment in a specific time period is obtained according to the last tracking moment in the current time period and the preset number of moments.

[0107] In one embodiment of the present invention, the preset number of moments may be the total number of moments between a preset specific time period and the current time period, and thus the first tracking moment in the specific time period may be obtained based on the last tracking moment in the current time period and the preset number of moments.

[0108] Continue to see Figure 6 In step S620, any tracking moment is selected in the current time period, and the tracking moment is used as the last tracking moment in the specific time period.

[0109] In one embodiment of the present invention, after the first tracking moment in the specific time period is obtained in step S610, the last tracking moment in the specific time period needs to be determined. The last tracking moment may be any tracking moment selected from the current time period.

[0110] In step S630, the specific time period is obtained according to the first tracking moment in the specific time period and the last tracking moment in the specific time period.

[0111] After determining the first tracking moment in the specific time period and the last tracking moment in the specific time period, the specific time period can be obtained.

[0112] In one embodiment of the present invention, determining the specific time period according to the current time period and the preset time number may be determining the first tracking time in the specific time period and the last tracking time in the specific time period, thereby obtaining the specific time period, see Figure 7 , step S3202 may further specifically include the following steps S710 to S730:

[0113] Step S710, obtaining the first tracking moment in a specific time period according to the last tracking moment in the current time period and the preset number of moments;

[0114] Step S720: select any tracking moment between the first tracking moment in the current time period and the first tracking moment in the specific time period, and use the tracking moment as the last tracking moment in the specific time period;

[0115] Step S730: Obtain the first time period according to the first tracking moment in the specific time period and the last tracking moment in the specific time period.

[0116] These steps are described in detail below:

[0117] In step S710, the first tracking moment in a specific time period is obtained according to the last tracking moment in the current time period and a preset number of moments.

[0118] In one embodiment of the present invention, the preset number of moments may be the total number of moments between a preset specific time period and the current time period, and thus the first tracking moment in the specific time period may be obtained based on the last tracking moment in the current time period and the preset number of moments.

[0119] Continue to see Figure 7 In step S720, any tracking moment is selected between the first tracking moment in the current time period and the first tracking moment in the specific time period, and the tracking moment is used as the last tracking moment in the specific time period.

[0120] In one embodiment of the present invention, after the first tracking moment in a specific time period is obtained through step S710, it is necessary to determine the last tracking moment in the specific time period. The last tracking moment can be any tracking moment selected between the first tracking moment in the current time period and the first tracking moment in the specific time period.

[0121] Step S730: Obtain the first time period according to the first tracking moment in the specific time period and the last tracking moment in the specific time period.

[0122] After determining the first tracking moment in the specific time period and the last tracking moment in the specific time period, the specific time period can be obtained.

[0123] The technical solution in this embodiment determines the specific time period according to the current time period and the preset number of moments by the total number of moments between the pre-set specific time period and the current time period, thereby judging whether the tracking is incorrect based on the comparison of the average tracking error value between the current time period and the specific time period. Compared with the comparison of the average tracking error value between the current time period and any time period, the technical solution in this embodiment can further improve the accuracy of the judgment.

[0124] The following describes an apparatus embodiment of the present application, which can be used to execute the target object tracking method in the above-mentioned embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the above-mentioned embodiment of the channel determination method of the present application.

[0125] Figure 8 A block diagram of a target object tracking device according to an embodiment of the present application is shown.

[0126] Reference Figure 8As shown, a target object tracking device 800 according to an embodiment of the present application includes: a first acquisition module 802 , a splitting module 804 , a second acquisition module 806 and a determination module 808 .

[0127] The first acquisition module 802 is used to obtain the tracking trajectory of the current object with respect to the target object; the splitting module 804 is used to split the tracking trajectory into multiple time periods, wherein the time period includes multiple tracking moments; the second acquisition module 806 is used to obtain the average tracking error value of the current time period among the multiple time periods and the tracking error value of the last tracking moment in the current time period; the determination module 808 is used to determine that the tracking status of the current object and the target object is incorrect and generate an alarm message when the average tracking error value or the tracking error value of the last tracking moment does not meet a preset condition.

[0128] In some embodiments of the present invention, based on the above solution, the determination module 808 is configured to: if the tracking error value at the last tracking moment is greater than the tracking error limit, determine that the preset condition is not met.

[0129] In some embodiments of the present invention, based on the above solution, the determination module 808 is configured to: if the tracking error value of the last tracking moment is greater than the tracking error values ​​of other tracking moments in the tracking trajectory, determine that the preset condition is not met.

[0130] In some embodiments of the present invention, based on the aforementioned scheme, the splitting module 804 includes: a splitting unit, used to split the tracking trajectory into multiple time periods including a current time period and a specific time period; the determination module 808 is configured as: if the average tracking error value of the specific time period is greater than the average tracking error value of the current time period, it is determined that the preset condition is not met.

[0131] In some embodiments of the present invention, based on the aforementioned scheme, the splitting unit 804 includes: an acquisition subunit, used to obtain the current time period; a determination subunit, used to determine a specific time period based on the current time period and a preset number of moments; and a splitting subunit, used to split the tracking trajectory according to the current time period and the specific time period to obtain multiple time periods including the current time period and the specific time period.

[0132] In some embodiments of the present invention, based on the aforementioned scheme, the determination subunit is configured as: obtaining the first tracking moment in a specific time period based on the last tracking moment in the current time period and the preset number of moments; obtaining the number of moments included in the specific time period based on the preset number of moments and the number of moments included in the current time period; obtaining the specific time period based on the number of moments included in the specific time period and the first tracking moment in the specific time period.

[0133] In some embodiments of the present invention, based on the aforementioned scheme, the determination subunit is configured as: obtaining the first tracking moment in a specific time period based on the last tracking moment in the current time period and a preset number of moments; selecting any tracking moment in the current time period and using the tracking moment as the last tracking moment in the specific time period; obtaining the specific time period based on the first tracking moment in the specific time period and the last tracking moment in the specific time period.

[0134] In some embodiments of the present invention, based on the aforementioned scheme, the determination subunit is configured as: obtaining the first tracking moment in a specific time period according to the last tracking moment in the current time period and a preset number of moments; selecting any tracking moment between the first tracking moment in the current time period and the first tracking moment in the specific time period, and using the tracking moment as the last tracking moment in the specific time period; obtaining the first time period according to the first tracking moment in the specific time period and the last tracking moment in the specific time period.

[0135] In some embodiments of the present invention, based on the aforementioned scheme, the device is further configured to: if the tracking error value of the last tracking moment is less than the tracking error limit, and the tracking error value of the last tracking moment is less than the tracking error values ​​of other tracking moments in the tracking trajectory, and the average tracking error value of the current time period is less than the average tracking error value of any other time period in the multiple time periods, then maintain the tracking state of the current object and the target object.

[0136] Fig. 9 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0137] It should be noted that Fig. 9 The computer system 900 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0138] like Fig. 9As shown, the computer system 900 includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 902 or the program loaded from the storage part 908 to the random access memory (RAM) 903, such as executing the method described in the above embodiment. In the RAM 903, various programs and data required for system operation are also stored. The CPU 901, ROM 902 and RAM 903 are connected to each other through a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0139] The following components are connected to the I / O interface 905: an input section 906 including a keyboard, a mouse, etc.; an output section 907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as needed so that a computer program read therefrom is installed into the storage section 908 as needed.

[0140] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 909, and / or installed from a removable medium 911. When the computer program is executed by a central processing unit (CPU) 901, various functions defined in the system of the present application are executed.

[0141] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0142] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0143] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0144] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the above embodiment.

[0145] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0146] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0147] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0148] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A target object tracking method, characterized in that: Acquire a tracking trajectory of the current object with respect to the target object, wherein the tracking trajectory is formed according to a corresponding relationship between a tracking moment and a tracking error value, and each tracking moment corresponds to a tracking error value; Splitting the tracking trajectory into a plurality of time periods, wherein the time period includes a plurality of tracking moments; Obtaining an average tracking error value of a current time period among the multiple time periods and a tracking error value of a last tracking moment in the current time period; When the average tracking error value or the tracking error value at the last tracking moment does not meet a preset condition, determining that the tracking state of the target object is incorrect, and generating an alarm message; If the tracking error value at the last tracking moment is less than the tracking error limit, the tracking error value at the last tracking moment is less than the tracking error values ​​at other tracking moments in the tracking trajectory, and the average tracking error value of the current time period is less than the average tracking error values ​​of other time periods in the multiple time periods, then the tracking state of the current object on the target object is maintained.

2. The method according to claim 1, characterized in that The method further comprises: If the tracking error value at the last tracking moment is greater than the tracking error limit, it is determined that the preset condition is not met.

3. The method according to claim 1, characterized in that The method further comprises: If the tracking error value at the last tracking moment is greater than the tracking error values ​​at other tracking moments in the tracking trajectory, it is determined that the preset condition is not met.

4. The method according to claim 1, characterized in that: The tracking trajectory is divided into multiple time periods, including: Splitting the tracking trajectory into multiple time periods including a current time period and a specific time period; The method further comprises: If the average tracking error value of the specific time period is greater than the average tracking error value of the current time period, it is determined that the preset condition is not met.

5. The method according to claim 4, characterized in that The step of splitting the tracking track into a plurality of time periods including a current time period and a specific time period includes: Get the current time period; Determine a specific time period according to the current time period and the preset time number; The tracking trajectory is split according to the current time period and the specific time period to obtain multiple time periods including the current time period and the specific time period.

6. The method according to claim 5, characterized in that The determining of the specific time period according to the current time period and the preset time number includes: Obtaining the first tracking moment in a specific time period according to the last tracking moment in the current time period and the preset number of moments; Obtaining the number of moments included in a specific time period according to the preset number of moments and the number of moments included in the current time period; The specific time period is obtained according to the number of moments included in the specific time period and the first tracking moment in the specific time period.

7. The method according to claim 5, characterized in that The determining of the specific time period according to the current time period and the preset time number includes: Obtaining the first tracking moment in a specific time period according to the last tracking moment in the current time period and the preset number of moments; Select any tracking moment in the current time period and use the tracking moment as the last tracking moment in the specific time period; The specific time period is obtained according to a first tracking moment in the specific time period and a last tracking moment in the specific time period.

8. The method according to claim 5, characterized in that The determining of the specific time period according to the current time period and the preset time number includes: Obtaining the first tracking moment in a specific time period according to the last tracking moment in the current time period and the preset number of moments; Select any tracking moment between the first tracking moment in the current time period and the first tracking moment in the specific time period, and use the tracking moment as the last tracking moment in the specific time period; The specific time period is obtained according to a first tracking moment in the specific time period and a last tracking moment in the specific time period.

9. A target object tracking device, characterized in that: The device comprises: A first acquisition module is used to acquire a tracking trajectory of the current object on the target object, wherein the tracking trajectory is formed according to a corresponding relationship between a tracking moment and a tracking error value, and each tracking moment corresponds to a tracking error value; A splitting module, used for splitting the tracking trajectory into multiple time periods, wherein the time period includes multiple tracking moments; A second acquisition module is used to acquire an average tracking error value of a current time period among the multiple time periods and a tracking error value of a last tracking moment in the current time period; A determination module is used to determine that the tracking state of the current object and the target object is incorrect when the average tracking error value or the tracking error value at the last tracking moment does not meet a preset condition, generate an alarm message, and maintain the tracking state of the current object for the target object if the tracking error value at the last tracking moment is less than a tracking error limit, the tracking error value at the last tracking moment is less than the tracking error values ​​at other tracking moments in the tracking trajectory, and the average tracking error value of the current time period is less than the average tracking error values ​​of other time periods in the multiple time periods.

10. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

11. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more computer programs, which, when executed by the one or more processors, enables the electronic device to implement the method according to any one of claims 1 to 8.

12. A computer program product, characterized in that The computer program product comprises a computer program, the computer program is stored in a computer-readable storage medium, a processor of an electronic device reads and executes the computer program from the computer-readable storage medium, so that the electronic device executes the method according to any one of claims 1 to 8.

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