Target tracking method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses a target tracking method and device, equipment and a storage medium, the target tracking method and device are applied to electronic equipment comprising double cameras, the double cameras comprise a rotatable first camera and a rotatable second camera, and the method comprises the following steps: acquiring a first image acquired by the first camera at a first acquisition moment; under the condition that the first image comprises the target object, predicting a first target position of the target object after the first acquisition moment; and controlling the second camera to rotate to the first position according to a relative position relationship between the first target position and a first shooting area of the first camera, so that the first target position is located in a second shooting area corresponding to the first position. Accurate tracking of the target object can be realized.

Description

Technical Field

[0001] The embodiments of the present application relate to information processing technology, and relate to but are not limited to a target tracking method and apparatus, equipment, and storage medium. Background Art

[0002] Dual cameras are increasingly being used in various electronic devices. For example, in monitoring equipment, dual cameras can provide a more comprehensive monitoring field of view, reduce monitoring blind spots, and improve the security and intelligence level of the monitoring system.

[0003] However, existing electronic devices including dual cameras are not able to make good use of the advantages of the dual cameras when in use, resulting in failure to obtain optimal tracking effects in some scenarios and failure to achieve more accurate motion detection and tracking. Summary of the invention

[0004] In view of this, the target tracking method, device, equipment, and storage medium provided in the embodiments of the present application can achieve accurate tracking of the target object. The target tracking method, device, equipment, and storage medium provided in the embodiments of the present application are implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a target tracking method, the method being applied to an electronic device including a dual camera, the dual camera including a rotatable first camera and a rotatable second camera, the method comprising:

[0006] Acquire a first image captured by the first camera at a first capturing moment;

[0007] In a case where the first image includes a target object, predicting a first target position of the target object after a first acquisition moment;

[0008] According to the relative position relationship between the first target position and the first shooting area of ​​the first camera, the second camera is controlled to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position.

[0009] This embodiment is implemented by controlling the second camera to rotate before the target object moves to the first target position, thereby ensuring that the second shooting area corresponding to the rotated second camera can cover the first target position to which the target object is about to move, thereby ensuring that the electronic device can always track the target object and improving the tracking efficiency of the target object.

[0010] In some embodiments, after controlling the second camera to rotate, the method further includes:

[0011] The second camera stops rotating after rotating to the first position, and photographs the target object in a stationary state.

[0012] By implementing this embodiment, it is possible to track the target object while ensuring that the quality of the image obtained when photographing the target object is relatively clear, thereby improving processing efficiency.

[0013] In some embodiments, the method further comprises:

[0014] Acquire a first video containing the target object captured by the first camera in a stationary state;

[0015] After the second camera rotates to the first position, obtaining a second video captured by the second camera and containing the target object;

[0016] The first video and the second video are spliced ​​together to obtain a movement trajectory of the target object.

[0017] In implementing this embodiment, the first camera captures the first video containing the target object in a stationary state, and after the second camera rotates, the second video containing the target object is also captured in a stationary state. In this way, it can be ensured that each frame of the acquired first video and second video is a clear image, so that when the first video and the second video are subsequently spliced, the clarity and coherence of the obtained movement trajectory of the target object can be ensured.

[0018] In some embodiments, the method further comprises:

[0019] Acquire a second image captured by the second camera at a second capturing time, where the second capturing time is a time after the first capturing time;

[0020] In a case where the target object is included in the second image, predicting a second target position of the target object after a second acquisition moment;

[0021] According to the relative position relationship between the second target position and the third shooting area of ​​the second camera, the first camera is controlled to rotate to the second position so that the second target position is located in the fourth shooting area corresponding to the second position.

[0022] By implementing this embodiment, accurate tracking of the target object can be achieved through alternating tracking processing of the first camera and the second camera.

[0023] In some embodiments, according to the relative position relationship between the first target position and the first shooting area of ​​the first camera, controlling the second camera to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position includes:

[0024] When the first target position is not located in the first shooting area of ​​the first camera, controlling the second camera to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position; or

[0025] When the first target position is located within the first shooting area of ​​the first camera and the distance between the first target position and the center point of the field of view of the shooting area of ​​the first camera is greater than a first distance threshold, the second camera is controlled to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position.

[0026] By implementing this embodiment, when the first camera cannot continue to track the target object, or when the first camera may miss capturing or detecting the target object, the second camera can be controlled to rotate in advance to a position where the target object can be tracked, thereby ensuring the continuity of tracking the target object.

[0027] In some embodiments, controlling the second camera to rotate to the first position according to the relative position relationship between the target position and the first shooting area of ​​the first camera so that the first target position is located in the second shooting area corresponding to the first position includes:

[0028] The second camera is controlled to rotate to the first position so that the first target position is located in a second shooting area corresponding to the first position, and the shooting area of ​​the second camera partially overlaps with the shooting area of ​​the second camera.

[0029] When this embodiment is implemented, since the shooting area of ​​the rotated second camera partially overlaps with the shooting area of ​​the first camera, when the target object moves from the initial position to the first target position, it can be ensured that at least one camera can capture the target object, thereby ensuring the continuity of tracking the target object.

[0030] In some embodiments, according to the relative position relationship between the first target position and the first shooting area of ​​the first camera, controlling the second camera to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position includes:

[0031] Determine a first presentation completeness of the target object in the first image and a second presentation completeness of the target object in a third image, where the third image is an image captured by the second camera at the first capture time;

[0032] When the first presentation completeness is greater than the second presentation completeness, controlling the second camera to rotate to the first position so that the first target position is located in a second shooting area corresponding to the first position, and the second shooting area of ​​the second camera partially overlaps with the first shooting area of ​​the first camera; or

[0033] Determine a first distance between a position of the target object in the first image and an edge position of the first image, and a second distance between a position of the target object in the third image and an edge position of the third image;

[0034] When the first distance is less than the second distance, the second camera is controlled to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position, and the second shooting area of ​​the second camera partially overlaps with the first shooting area of ​​the first camera.

[0035] This embodiment is implemented by rotating and adjusting the second camera that captures the target object with lower presentation completeness, or adjusting the camera that is farther away from the edge of the image, and the shooting area of ​​the adjusted camera partially overlaps with the shooting area of ​​the first camera. In the process of the target object moving from the initial position to the first target position, it can be ensured that at least one camera can capture the target object, thereby ensuring the continuity of tracking the target object.

[0036] In some embodiments, the method further comprises:

[0037] According to the movement parameters of the target object, the acquisition frequency of at least one camera in the dual cameras is adjusted, the movement parameters are determined according to a first position of the target object in the first image and a second position of the target object in a fourth image, the fourth image is an image acquired at a time adjacent to the current acquisition time, and the movement parameters include a moving speed and a moving direction.

[0038] By implementing this embodiment, the acquisition frequency of at least one camera in the dual cameras is adjusted according to the movement parameters of the target object to adapt to different movement modes of the target object, so as to save camera power consumption while achieving accurate tracking of the target object.

[0039] In some embodiments, adjusting the acquisition frequency of at least one camera in the dual cameras according to the movement parameter of the target object includes:

[0040] When the target object moves horizontally, the acquisition frequency of the first camera is maintained, and the acquisition frequency of the second camera is reduced; or,

[0041] When it is determined that the target object moves into the shooting area of ​​the second camera, increasing the acquisition frequency of the second camera; or,

[0042] When the target object is moving in a changing direction, increasing the acquisition frequency of the first camera; or

[0043] According to the change amplitude of the moving speed of the target object, the acquisition frequency of at least one camera in the dual cameras is adjusted, wherein when the change amplitude of the moving speed is greater than or equal to a preset threshold, the acquisition frequency of at least one camera in the dual cameras is increased; when the change amplitude of the moving speed is less than the preset threshold, the acquisition frequency of at least one camera in the dual cameras is reduced.

[0044] By implementing this embodiment, the acquisition frequency of the camera in the electronic device can be adjusted in time according to the moving direction and moving speed of the target object, thereby reducing the power consumption of the electronic device while ensuring the tracking accuracy of the target object.

[0045] In a second aspect, an embodiment of the present application provides a target tracking device, comprising:

[0046] An acquisition module, used to acquire a first image captured by the first camera at a first acquisition moment;

[0047] A prediction module, configured to predict a first target position of the target object after a first acquisition moment when the first image includes the target object;

[0048] The control module is used to control the second camera to rotate to a first position according to the relative position relationship between the first target position and the first shooting area of ​​the first camera, so that the first target position is located in a second shooting area corresponding to the first position.

[0049] In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be executed on the processor, and when the processor executes the program, the method described in the embodiment of the present application is implemented.

[0050] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided in the embodiment of the present application.

[0051] The target tracking method, apparatus, computer device and computer-readable storage medium provided in the embodiments of the present application obtain a first image captured by a first camera, and when the target object is included in the first image, predict a first target position to which the target object will move; and according to the relative position relationship between the first target position and the current shooting area of ​​the first camera, control the second camera to move to the first position in advance, and the second shooting area of ​​the second camera at the first position includes the first target position to which the target object will move.

[0052] In this way, before the target object moves to the first target position, the second camera is controlled to rotate to ensure that the second shooting area corresponding to the rotated second camera can cover the first target position to which the target object is about to move, thereby ensuring that the electronic device can always track the target object, improving the tracking efficiency of the target object, and solving the technical problems raised in the background technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0054] Figure 1 A structural scene diagram of an electronic device provided in an embodiment of the present application;

[0055] Figure 2 A schematic diagram of the implementation flow of the target tracking method provided in the embodiment of the present application;

[0056] Figure 3 A schematic diagram of the effect of rotating a second camera provided in an embodiment of the present application;

[0057] Figure 4 A schematic diagram of another effect of rotating the second camera provided in an embodiment of the present application;

[0058] Figure 5 A schematic diagram of the effect of rotating another second camera provided in an embodiment of the present application;

[0059] Figure 6 A schematic diagram of the effect of rotating another second camera provided in an embodiment of the present application;

[0060] Figure 7 A schematic diagram of the structure of a target tracking device provided in an embodiment of the present application;

[0061] Figure 8 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the specific technical solution of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0064] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0065] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are used to distinguish similar or different objects, and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0066] Dual cameras are increasingly being used in various electronic devices. For example, in monitoring equipment, dual cameras can provide a more comprehensive monitoring field of view, reduce monitoring blind spots, and improve the security and intelligence level of the monitoring system.

[0067] However, existing electronic devices with dual cameras usually use a hardware structure in which one camera is fixed and the other camera supports rotation. In this way, when performing motion tracking, these cameras only support tracking with a single camera, and fail to fully utilize the advantages of dual cameras, resulting in failure to obtain the best tracking effect in some scenarios.

[0068] And for the tracking of a single camera, it is mostly achieved by detecting the position of the moving object in the entire image area and rotating the rotatable camera to keep the moving object in the center of the image. This tracking method can track fast-moving objects when the rotatable camera rotates quickly, but it will cause the captured image to be blurred; when the rotatable camera rotates slowly, it may not be able to keep up with the moving speed of the moving object in time in some scenes.

[0069] It can be seen that existing electronic devices including dual cameras only rely on a single camera for tracking when in use, and cannot make good use of the advantages of the dual cameras, resulting in the inability to obtain the best tracking effect in some scenarios and the inability to achieve more accurate motion detection and tracking.

[0070] In view of this, an embodiment of the present application provides a target tracking method, which is applied to an electronic device including dual cameras.

[0071] For example, Figure 1 As shown, the electronic device 10 may include a processor 101 , an external memory interface 102 , an internal memory 103 and a universal serial bus (USB) interface 104 , a first camera 105 and a second camera 106 .

[0072] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the electronic device 10. In other embodiments of the present application, the electronic device 10 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0073] The processor 101 may include one or more processing units, for example: the processor 101 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a controller, a video codec, a digital signal processor (digital signal processor, DSP), a baseband processor, and / or a neural network processing unit (neural network processing unit, NPU), etc. Among them, different processing units can be independent devices or integrated into one or more processors. Exemplarily, the processor 101 can be a smart terminal CPU, such as a Snapdragon series processor, etc. In some embodiments, the processor 101 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0074] The external memory interface 102 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device 10. The external memory card communicates with the processor 101 through the external memory interface 102 to implement a data storage function, such as storing music, video and other files in the external memory card.

[0075] The internal memory 103 can be used to store computer executable program codes, which include instructions. The internal memory 103 can include a program storage area and a data storage area. The program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area can store data created during the use of the electronic device 10 (such as audio data, a phone book, etc.), etc.

[0076] The first camera 105 and the second camera 106 may be connected to the processor 101 to transmit images or videos captured by the cameras to the processor 101 for the processor 101 to perform image processing.

[0077] Among them, the first camera 105 and the second camera 106 are both rotatable cameras. For example, the first camera 105 and the second camera 106 can be rotated by a pan / tilt head, including free rotation in the horizontal and vertical directions. In this way, the monitoring range of the camera can be changed through the rotation operation of the camera.

[0078] In addition, the electronic device involved in the embodiments of the present application may also be installed with an operating system, and application programs may be installed and run on the operating system, which is not limited in the embodiments of the present application.

[0079] Figure 2 The following is a schematic diagram of the implementation process of the target tracking method provided in the embodiment of the present application. Figure 2 As shown, the method may include the following steps 201 to 203:

[0080] Step 201: Acquire a first image captured by a first camera at a first capturing moment.

[0081] The target tracking method provided in the embodiment of the present application can be applied to an electronic device including a dual camera, wherein the dual camera includes a rotatable first camera and a rotatable second camera.

[0082] The first camera and the second camera in the embodiment of the present application may be rotatable cameras individually controlled by different gimbals, or may be two different cameras integrated on one gimbal, and there is no limitation to this.

[0083] In the embodiment of the present application, there is no limitation on the installation method of the first camera and the second camera. Figure 3As shown, the first camera and the second camera can be horizontally placed cameras. Alternatively, the first camera and the second camera can also be stacked up and down. This stacked installation method can effectively avoid the overlapping of the shooting fields of the first camera and the second camera, thereby expanding the shooting range of the first camera and the second camera. Of course, the first camera and the second camera can also be installed in other ways, as long as the first camera and the second camera are both rotatable cameras.

[0084] The electronic device provided in the embodiment of the present application may be a terminal, a server, etc. Among them, the terminal may be a light field camera, a car camera, a mobile phone, a tablet computer, a smart Bluetooth device, a laptop computer, or a personal computer (PC) and the like; the server may be a single server or a server cluster composed of multiple servers, which is not limited in the embodiment of the present application.

[0085] In some embodiments, the electronic device may include multiple components, such as an image analysis unit, a prediction unit, a motion control module, etc. Through the combined use of the multiple components, the rotation processing of the first camera and the second camera can be realized.

[0086] For example, the image analysis unit may acquire the first image captured by the first camera at the first capturing moment, and perform picture change detection and target object detection on the first image to determine whether the first image includes the target object.

[0087] Step 202: When the first image includes the target object, predict a first target position of the target object after a first acquisition moment.

[0088] In the embodiment of the present application, there is no limitation on the type of the target object, for example, the target object may be a person, an animal (such as a cat, a dog, etc.), a vehicle, or other objects with mobility.

[0089] In an embodiment of the present application, after the image analysis unit of the electronic device determines that the first image includes the target object, the prediction unit in the electronic device can predict the first target position of the target object after the first acquisition moment.

[0090] In the embodiment of the present application, there is no limitation on the method for predicting the first target position of the target object after the first acquisition moment.

[0091] For example, in some embodiments, in order to predict the first target position of the target object after the first acquisition moment, a subsequent image captured by the first camera at a subsequent acquisition moment can be obtained, and the subsequent acquisition moment is a acquisition moment after the first acquisition moment; then, based on the first image and the subsequent image, the first target position of the target object after the subsequent acquisition moment is predicted.

[0092] In a feasible embodiment, predicting the first target position of the target object after a subsequent acquisition moment based on the first image and the subsequent images may include determining movement parameters of the target object based on the first position of the target object in the first image and the second position of the target object in the subsequent image, the movement parameters including movement speed and movement direction; and determining the first target position of the target object after the subsequent acquisition moment based on the second position and the movement parameters.

[0093] For example, assume that the first image acquired by the image analysis unit from the first camera is frame1, and determine the area area1 where the target object is located in frame1. Assume that the coordinates of area1 are (x1, y1, w1, h1), such as the coordinates of area1 are (100, 200, 50, 50), that is, the first position of the target object is (100, 200, 50, 50).

[0094] Then, the image analysis unit obtains the subsequent image frame2 from the first camera, and determines the area area2 where the target object is located in frame2. Assume that the coordinates of area2 are (x2, y2, w2, h2), such as the coordinates of area2 are (120, 220, 50, 50), that is, the second position of the target object is (120, 220, 50, 50).

[0095] In this way, the prediction unit can determine that the movement vector (a manifestation of movement parameters) of the target object between the images at two acquisition moments (two frames) is (20, 20) based on the specific values ​​of the first position and the second position; then, based on the second position and the movement vector, it can be predicted that the target object will move to the first target position of (140, 240, 50, 50) corresponding to the first camera.

[0096] It can be seen that through the above prediction method, the possible position of the target object at a future moment can be predicted based on two frames of images collected at consecutive moments containing the target object, thereby reducing the amount of calculation and improving the prediction speed and prediction efficiency.

[0097] Of course, in other embodiments, the prediction unit may also predict the first target position of the target object after the first acquisition moment based on multiple frames of continuous images acquired by the first camera, so that the accuracy of the position prediction of the target object can be guaranteed.

[0098] Step 203: According to the relative position relationship between the first target position and the first shooting area of ​​the first camera, the second camera is controlled to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position.

[0099] In the embodiment of the present application, after the first target position of the target object after the first acquisition moment is predicted, the second camera can be controlled to rotate through the mobile control module in the electronic device.

[0100] In an embodiment of the present application, after predicting the first target position to which the target object will move, the second camera can be controlled to move to the first position in advance by moving the control module based on the relative position relationship between the first target position and the current shooting area of ​​the first camera, and the second shooting area of ​​the second camera at the first position includes the first target position to which the target object will move.

[0101] That is to say, the mobile control module can control the second camera to rotate before the target object moves to the first target position, so as to ensure that the second shooting area corresponding to the rotated second camera can cover the first target position to which the target object is about to move, thereby ensuring that the electronic device can always track the target object and improving the tracking efficiency of the target object.

[0102] Here, the first position is not limited. For example, the first position can be the center of the field of view of the second camera; or, the first position can also be any position in the second shooting area of ​​the second camera, and it is only necessary to ensure that the second shooting area of ​​the second camera after rotation contains the first position and the first target position.

[0103] In some embodiments, the second camera stops rotating after rotating to the first position, and photographs the target object in a stationary state. In this way, the image quality obtained when photographing the target object can be relatively clear, while being able to track the target object, thereby improving processing efficiency.

[0104] In the embodiment of the present application, there is no limitation on the implementation method of controlling the second camera to rotate to the first position.

[0105] For example, in some embodiments, when the first target position is not located in the first shooting area of ​​the first camera, the second camera may be controlled to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position.

[0106] For example, Figure 3 A schematic diagram of the effect of rotating the second camera is given. Figure 3 As shown, when the predicted first target position to which the target object may move is not in the current shooting area of ​​the first camera, the second camera can be controlled to rotate to the first position in advance, so that the first target position is included in the second shooting area corresponding to the rotated second camera.

[0107] In this way, when the first camera cannot continue to track the target object, the second camera can be controlled to rotate in advance to a position where the target object can be tracked, thereby ensuring the continuity of tracking the target object.

[0108] Alternatively, in other embodiments, when the first target position is located in the first shooting area of ​​the first camera and the distance between the first target position and the center point of the field of view of the first shooting area of ​​the first camera is greater than a first distance threshold, the second camera can be controlled to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position.

[0109] Figure 4 A schematic diagram of the effect of rotating the second camera is given.

[0110] like Figure 4 As shown, after predicting the first target position that the target object is about to reach, by comparing the first target position with the first shooting area of ​​the first camera, it is determined that the first target position is still located in the first shooting area of ​​the first camera, that is, the first camera can still detect the target object. However, the distance between the first target position and the center point of the field of view of the first shooting area of ​​the first camera is large, indicating that the first target position that the target object is about to reach is already located at the edge detection position of the first camera, and then shooting and detecting the target object through the first camera may cause the problem of missed shooting and missed detection.

[0111] Based on this, in this case, the second camera can be controlled to rotate to the first position in advance, so that the second shooting area corresponding to the rotated second camera includes the first target position.

[0112] In this way, when the first camera may miss capturing or detecting the target object, the second camera can be controlled to rotate in advance to a position where the target object can be tracked, thereby ensuring the continuity of tracking the target object.

[0113] Alternatively, in some embodiments, the second camera may be controlled to rotate to the first position so that the first target position is located in a second shooting area corresponding to the first position, and the second shooting area of ​​the second camera partially overlaps with the first shooting area of ​​the first camera.

[0114] Figure 5 A schematic diagram of the effect of rotating the second camera is given.

[0115] like Figure 5 As shown, after predicting the first target position that the target object is about to reach, the second camera can be directly controlled to rotate to ensure that the second shooting area of ​​the rotated second camera includes the first target position, and that the second shooting area of ​​the rotated second camera partially overlaps with the first shooting area of ​​the first camera.

[0116] In this way, since the shooting area of ​​the rotated second camera partially overlaps with the shooting area of ​​the first camera, in the process of the target object moving from the initial position to the first target position, it can be guaranteed that at least one camera can capture the target object, thereby ensuring the continuity of tracking the target object.

[0117] Alternatively, in some embodiments, it is also possible to determine a first presentation completeness of the target object in the first image and a second presentation completeness in the third image, where the third image is the image captured by the second camera at the first capture moment; and when the first presentation completeness is greater than the second presentation completeness, control the second camera to rotate to the first position so that the first target position is located in the first shooting area corresponding to the first position, and the shooting area of ​​the second camera partially overlaps with the shooting area of ​​the first camera.

[0118] Figure 6 A schematic diagram of the effect of rotating the second camera is given.

[0119] like Figure 6 As shown, when the first camera captures the first image at the first capture time, and the image analysis unit determines the first presentation completeness of the target object in the first image, the second camera can simultaneously capture the third image at the first capture time, and the image analysis unit determines the second presentation completeness of the target object in the third image. Then, the image analysis unit can compare the first presentation completeness with the second presentation completeness. If the target object is more completely presented in the first image, it means that the target object may be at the edge of the current shooting area of ​​the second camera.

[0120] Therefore, the second camera can be controlled to rotate to ensure that the second shooting area of ​​the rotated second camera includes the first target position, and the second shooting area of ​​the rotated second camera partially overlaps with the first shooting area of ​​the first camera.

[0121] In this way, by rotating and adjusting the camera that captures the target object with lower presentation completeness, and the shooting area of ​​the adjusted camera partially overlaps with the shooting area of ​​the first camera, then in the process of the target object moving from the initial position to the first target position, it can be ensured that at least one camera can capture the target object, thereby ensuring the continuity of tracking the target object.

[0122] Alternatively, in some embodiments, a first distance between the position of the target object in the first image and the edge position of the first image, and a second distance between the position of the target object in the third image and the edge position of the third image can also be determined; and when the first distance is less than the second distance, the second camera is controlled to rotate to the first position so that the first target position is located in the first shooting area corresponding to the first position, and the second shooting area of ​​the second camera partially overlaps with the first shooting area of ​​the first camera.

[0123] It can be understood that the smaller the distance between the position of the target object in the image and the edge of the image (or the larger the distance between the position of the target object in the image and the center of the image), the more it means that the target object may have moved to the edge of the image, that is, it may be about to leave the shooting area corresponding to the camera that took the image.

[0124] Based on this, in some embodiments, the image analysis unit can also compare a first distance between the position of the target object in the first image taken by the first camera and the edge position of the first image, and a second distance between the position of the target object in the third image taken by the second camera and the edge position of the third image. If the first distance is smaller than the second distance, it means that the target object is about to leave the shooting area of ​​the first camera.

[0125] Therefore, the rotation of the second camera can be adjusted in advance so that the shooting area of ​​the second camera covers the position where the target object is about to arrive, and ensure that the shooting area of ​​the second camera partially overlaps with the shooting area of ​​the first camera, so as to ensure that in the process of the target object leaving the shooting area of ​​the first camera and arriving at the shooting area of ​​the second camera, the target object can be continuously tracked through the coordinated use of the two cameras.

[0126] Alternatively, when it is determined that the distance between the position of the target object in the first image and the center position of the first image is greater than the distance between the position of the target object in the third image and the center position of the third image, the second camera can be controlled to rotate to the first position so that the first target position is located in the first shooting area corresponding to the first position, and the second shooting area of ​​the second camera partially overlaps with the first shooting area of ​​the first camera.

[0127] Alternatively, in some embodiments, the second camera can be controlled to rotate at a preset rotation speed for a first angle based on the relative position relationship between the first target position and the shooting area of ​​the second camera, so that the shooting area of ​​the rotated second camera partially overlaps with the shooting area of ​​the first camera, and the first target position is located at the edge of the shooting area of ​​the second camera, and the preset rotation speed is less than a speed threshold; and the second camera can be controlled again to rotate at the preset rotation speed for a second angle, so that the distance between the first target position and the center point of the field of view of the shooting area of ​​the second camera is less than a second distance threshold.

[0128] In some embodiments, a first video containing the target object captured by the first camera in a stationary state can be obtained; and after the second camera rotates to the first position, a second video containing the target object captured by the second camera can be obtained; and then the first video and the second video are spliced ​​to obtain the movement trajectory of the target object.

[0129] Here, the first camera captures the first video containing the target object in a stationary state, and after the second camera rotates, it also captures the second video containing the target object in a stationary state. In this way, it can be ensured that each frame of the acquired first video and second video is a clear image, so that when the first video and the second video are subsequently spliced, the clarity and coherence of the obtained movement trajectory of the target object can be ensured.

[0130] It should be noted that the first camera and the second camera in the embodiment of the present application are both rotatable cameras, so that when the target object leaves the shooting area of ​​the first camera, the target object can be tracked by rotating the second camera; similarly, when the target object leaves the shooting area of ​​the second camera, the target object can be tracked by rotating the first camera. In this way, the target object can be accurately tracked by alternating the tracking process of the first camera and the second camera.

[0131] For example, after controlling the second camera to rotate to the first position, a second image captured by the second camera at a second acquisition moment can also be obtained, and the second acquisition moment is a moment after the first acquisition moment; when the second image includes the target object, the second target position of the target object after the second acquisition moment is predicted; according to the relative position relationship between the second target position and the third shooting area of ​​the second camera, the first camera is controlled to rotate to the second position so that the second target position is located in the fourth shooting area corresponding to the second position.

[0132] Here, the method of rotating the first camera to the second position is the same as the method of rotating the second camera to the first position in the above embodiment, and will not be repeated here.

[0133] By implementing this embodiment, accurate tracking of the target object can be achieved through alternating tracking processing of the first camera and the second camera.

[0134] It is understandable that in an actual shooting scene, the target object may exhibit complex movement patterns, such as the target object may move in a fixed direction, change direction, change moving speed, or move closer to or farther away from the camera.

[0135] Based on this, in an embodiment of the present application, the acquisition frequency of at least one camera in the dual cameras can also be adjusted according to the movement parameters of the target object to adapt to different movement modes of the target object, so as to save camera power consumption while achieving accurate tracking of the target object.

[0136] The movement parameters are determined based on the first position of the target object in the first image and the second position of the target object in the fourth image, and the fourth image is an image captured by the first camera at a time adjacent to the current capture time. The movement parameters may include the moving speed and moving direction of the target object.

[0137] In the embodiment of the present application, there is no limitation on the manner of adjusting the acquisition frequency of at least one camera in the dual cameras according to the movement parameters of the target object.

[0138] For example, in some embodiments, when the target object moves horizontally, the acquisition frequency of the first camera may be maintained, and the acquisition frequency of the second camera may be reduced.

[0139] That is to say, if it is determined that the target object is moving horizontally, that is, the target object has not changed its moving direction, the acquisition frequency of the first camera currently tracking the target object can be maintained, and the acquisition frequency of the second camera that is not the current tracking main force can be reduced. In this way, while ensuring accurate tracking of the target object, the power consumption of the electronic device can be reduced.

[0140] In some embodiments, the acquisition frequency may be the frame rate of the camera.

[0141] In some embodiments, after reducing the acquisition frequency of the second camera, the acquisition frequency of the second camera may be increased again when the target object approaches the shooting area of ​​the second camera to ensure that the second camera can accurately track the target object.

[0142] Alternatively, in some embodiments, when it is determined that the target object moves into the shooting area of ​​the second camera, the acquisition frequency of the second camera may be increased.

[0143] Here, when the target object moves into the shooting area of ​​the second camera, by increasing the acquisition frequency of the second camera, such as increasing the frame rate of the second camera, more frame images can be acquired in the same time to ensure the tracking effect of the target object.

[0144] Alternatively, in some embodiments, when the target object is moving in a changing direction, the acquisition frequency of the first camera may be increased.

[0145] Here, when the change in the moving direction of the target object is determined through the image captured by the first camera, the capture frequency of the first camera can be increased, such as increasing the frame rate of the first camera, so that more frame images can be captured in the same time, thereby ensuring the tracking effect of the target object.

[0146] In addition, the acquisition frequency of the second camera can be dynamically adjusted according to the prediction results of the moving direction and moving speed of the target object.

[0147] Alternatively, in some embodiments, the acquisition frequency of at least one of the dual cameras may be adjusted according to the change range of the moving speed of the target object. If the change range of the moving speed is greater than or equal to a preset threshold, the acquisition frequency of at least one of the dual cameras may be increased; if the change range of the moving speed is less than the preset threshold, the acquisition frequency of at least one of the dual cameras may be reduced.

[0148] Here, the adjustment of the camera acquisition frequency can also be determined according to the moving speed of the target object. When the moving speed of the target object is detected to be faster, the camera acquisition frequency can be increased to collect more frame images in the same time and improve the tracking accuracy; when the moving speed of the target object is detected to be slower, the camera acquisition frequency can be reduced to reduce the power consumption of the electronic device.

[0149] It should be noted that the above-mentioned adjustment of the acquisition frequency of the first camera and the second camera can be used alone or in combination according to actual conditions, and there is no limitation on this.

[0150] By implementing the above embodiment, the acquisition frequency of the camera in the electronic device can be adjusted in time according to the moving direction and moving speed of the target object, thereby reducing the power consumption of the electronic device while ensuring the tracking accuracy of the target object.

[0151] It should be understood that, although the steps in the above-mentioned flowcharts are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above-mentioned flowcharts may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0152] Based on the foregoing embodiments, an embodiment of the present application provides a target tracking device, which includes the modules included and the units included in the modules, which can be implemented by a processor; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0153] Figure 7 A schematic diagram of the structure of a target tracking device provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the device 700 includes an acquisition module 701, a prediction module 702 and a control module 703, wherein:

[0154] An acquisition module 701 is used to acquire a first image captured by the first camera at a first acquisition moment;

[0155] A prediction module 702, configured to predict a first target position of the target object after a first acquisition moment when the first image includes the target object;

[0156] The control module 703 is used to control the second camera to rotate to a first position according to the relative position relationship between the first target position and the first shooting area of ​​the first camera, so that the first target position is located in a second shooting area corresponding to the first position.

[0157] In some embodiments, the control module 703 is further used to control the second camera to stop rotating after rotating to the first position, and to shoot the target object in a stationary state.

[0158] In some embodiments, the device further comprises a splicing module;

[0159] The acquisition module 701 is further configured to acquire a first video containing the target object captured by the first camera in a stationary state; and after the second camera rotates to a first position, acquire a second video containing the target object captured by the second camera;

[0160] The splicing module is used to splice the first video and the second video to obtain the movement trajectory of the target object.

[0161] In some embodiments, the acquisition module 701 is further used to acquire a second image acquired by the second camera at a second acquisition time, where the second acquisition time is a time after the first acquisition time;

[0162] The prediction module 702 is further configured to predict a second target position of the target object after a second acquisition moment when the target object is included in the second image;

[0163] The control module 703 is further used to control the first camera to rotate to a second position according to the relative position relationship between the second target position and the third shooting area of ​​the second camera, so that the second target position is located in a fourth shooting area corresponding to the second position.

[0164] In some embodiments, the control module 703 is specifically configured to control the second camera to rotate to the first position when the first target position is not located in the first shooting area of ​​the first camera, so that the first target position is located in the second shooting area corresponding to the first position; or

[0165] When the first target position is located within the first shooting area of ​​the first camera and the distance between the first target position and the center point of the field of view of the shooting area of ​​the first camera is greater than a first distance threshold, the second camera is controlled to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position.

[0166] In some embodiments, the control module 703 is further specifically used to control the second camera to rotate to the first position so that the first target position is located in a second shooting area corresponding to the first position, and the second shooting area of ​​the second camera partially overlaps with the first shooting area of ​​the first camera.

[0167] In some embodiments, the control module 703 is further configured to determine a first presentation completeness of the target object in the first image and a second presentation completeness of the target object in a third image, where the third image is an image captured by the second camera at the first capture time;

[0168] When the first presentation completeness is greater than the second presentation completeness, controlling the second camera to rotate to the first position so that the first target position is located in a second shooting area corresponding to the first position, and the second shooting area of ​​the second camera partially overlaps with the first shooting area of ​​the first camera; or

[0169] Determine a first distance between a position of the target object in the first image and an edge position of the first image, and a second distance between a position of the target object in the third image and an edge position of the third image;

[0170] When the first distance is smaller than the second distance, the second camera is controlled to rotate to the first position so that the first target position is located in a second shooting area corresponding to the first position, and the second shooting area of ​​the second camera partially overlaps with the first shooting area of ​​the first camera.

[0171] In some embodiments, the apparatus further comprises an adjustment module;

[0172] The adjustment module is used to adjust the acquisition frequency of at least one camera in the dual cameras according to the movement parameters of the target object, wherein the movement parameters are determined according to a first position of the target object in the first image and a second position of the target object in a fourth image, wherein the fourth image is an image acquired at a time adjacent to the first acquisition time, and the movement parameters include a movement speed and a movement direction.

[0173] In some embodiments, the adjustment module is specifically used to maintain the acquisition frequency of the first camera and reduce the acquisition frequency of the second camera when the moving direction of the target object is horizontal movement; or

[0174] When it is determined that the target object moves into the shooting area of ​​the second camera, increasing the acquisition frequency of the second camera; or,

[0175] When the target object is moving in a changing direction, increasing the acquisition frequency of the first camera; or

[0176] According to the change amplitude of the moving speed of the target object, the acquisition frequency of at least one camera in the dual cameras is adjusted, wherein when the change amplitude of the moving speed is greater than or equal to a preset threshold, the acquisition frequency of at least one camera in the dual cameras is increased; when the change amplitude of the moving speed is less than the preset threshold, the acquisition frequency of at least one camera in the dual cameras is reduced.

[0177] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0178] It should be noted that in the embodiments of this application Figure 7 The division of modules in the target tracking device shown is schematic and is only a logical functional division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or it can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. It can also be implemented in the form of a combination of software and hardware.

[0179] It should be noted that in the embodiment of the present application, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application can be essentially or partly embodied in the form of a software product that contributes to the relevant technology. The computer software product is stored in a storage medium, including several instructions to enable an electronic device to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0180] The embodiment of the present application provides a computer device, which may be a server, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the above method is implemented.

[0181] An embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the method provided in the above embodiment are implemented.

[0182] An embodiment of the present application provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the steps of the method provided in the above method embodiment.

[0183] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0184] In one embodiment, the target tracking device provided by the present application can be implemented in the form of a computer program. The computer program can be Figure 8 The computer device shown in the figure is run. The memory of the computer device can store various program modules constituting the above-mentioned device. The computer program composed of various program modules enables the processor to execute the steps in the method of each embodiment of the present application described in this specification.

[0185] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0186] It should be understood that "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in one embodiment" or "in some embodiments" appearing throughout the specification may not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The above-mentioned sequence numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. The above description of each embodiment tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. For the sake of brevity, this article will not repeat them.

[0187] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0188] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0189] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms.

[0190] The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed on multiple network units; some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0191] In addition, all functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may be a separate unit, or two or more modules may be integrated into one unit; the above-mentioned integrated modules may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0192] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0193] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling an electronic device to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0194] The methods disclosed in several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0195] The features disclosed in several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0196] The features disclosed in several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0197] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A target tracking method, characterized in that: The method is applied to an electronic device including a dual camera, wherein the dual camera includes a rotatable first camera and a rotatable second camera, and the method includes: Acquire a first image captured by the first camera at a first capturing moment; In a case where the first image includes a target object, predicting a first target position of the target object after a first acquisition moment; According to the relative position relationship between the first target position and the first shooting area of ​​the first camera, the second camera is controlled to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position.

2. The method according to claim 1, characterized in that After controlling the second camera to rotate, the method further includes: The second camera stops rotating after rotating to the first position, and photographs the target object in a stationary state.

3. The method according to claim 2, characterized in that The method further comprises: Acquire a first video containing the target object captured by the first camera in a stationary state; After the second camera rotates to the first position, obtaining a second video captured by the second camera and containing the target object; The first video and the second video are spliced ​​together to obtain a movement trajectory of the target object.

4. The method according to claim 1 or 2, characterized in that: The method further comprises: Acquire a second image captured by the second camera at a second capturing time, where the second capturing time is a time after the first capturing time; In a case where the target object is included in the second image, predicting a second target position of the target object after a second acquisition moment; According to the relative position relationship between the second target position and the third shooting area of ​​the second camera, the first camera is controlled to rotate to the second position so that the second target position is located in the fourth shooting area corresponding to the second position.

5. The method according to claim 1, characterized in that According to the relative position relationship between the first target position and the first shooting area of ​​the first camera, controlling the second camera to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position includes: When the first target position is not located in the first shooting area of ​​the first camera, controlling the second camera to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position; or When the first target position is located within the first shooting area of ​​the first camera and the distance between the first target position and the center point of the field of view of the shooting area of ​​the first camera is greater than a first distance threshold, the second camera is controlled to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position.

6. The method according to claim 1, characterized in that According to the relative position relationship between the target position and the first shooting area of ​​the first camera, controlling the second camera to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position includes: The second camera is controlled to rotate to the first position so that the first target position is located in a second shooting area corresponding to the first position, and the second shooting area of ​​the second camera partially overlaps with the first shooting area of ​​the first camera.

7. The method according to claim 1, characterized in that According to the relative position relationship between the first target position and the first shooting area of ​​the first camera, controlling the second camera to rotate to the first position so that the first target position is located in the second shooting area corresponding to the first position includes: Determine a first presentation completeness of the target object in the first image and a second presentation completeness of the target object in a third image, where the third image is an image captured by the second camera at the first capture time; When the first presentation completeness is greater than the second presentation completeness, controlling the second camera to rotate to the first position so that the first target position is located in a second shooting area corresponding to the first position, and the second shooting area of ​​the second camera partially overlaps with the first shooting area of ​​the first camera; or Determine a first distance between a position of the target object in the first image and an edge position of the first image, and a second distance between a position of the target object in the third image and an edge position of the third image; When the first distance is smaller than the second distance, the second camera is controlled to rotate to the first position so that the first target position is located in a second shooting area corresponding to the first position, and the second shooting area of ​​the second camera partially overlaps with the first shooting area of ​​the first camera.

8. The method according to claim 1, characterized in that The method further comprises: According to the movement parameters of the target object, the acquisition frequency of at least one camera in the dual cameras is adjusted, the movement parameters are determined according to a first position of the target object in the first image and a second position of the target object in a fourth image, the fourth image is an image acquired at a time adjacent to the first acquisition time, and the movement parameters include a movement speed and a movement direction.

9. The method according to claim 7, characterized in that: The step of adjusting the acquisition frequency of at least one of the dual cameras according to the movement parameter of the target object comprises: When the target object moves horizontally, the acquisition frequency of the first camera is maintained, and the acquisition frequency of the second camera is reduced; or, When it is determined that the target object moves into the shooting area of ​​the second camera, increasing the acquisition frequency of the second camera; or, When the target object is moving in a changing direction, increasing the acquisition frequency of the first camera; or According to the change amplitude of the moving speed of the target object, the acquisition frequency of at least one camera in the dual cameras is adjusted, wherein when the change amplitude of the moving speed is greater than or equal to a preset threshold, the acquisition frequency of at least one camera in the dual cameras is increased; when the change amplitude of the moving speed is less than the preset threshold, the acquisition frequency of at least one camera in the dual cameras is reduced.

10. A target tracking device, characterized in that: include: An acquisition module, used to acquire a first image captured by a first camera at a first acquisition moment; A prediction module, configured to predict a first target position of the target object after a first acquisition moment when the first image includes the target object; The control module is used to control the second camera to rotate to the first position according to the relative position relationship between the first target position and the first shooting area of ​​the first camera, so that the first target position is located in the second shooting area corresponding to the first position.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage 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 9 is implemented.

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