Target tracking method and device, equipment and storage medium

Abstract

The invention provides a target tracking method and device, equipment and a storage medium, and relates to the technical field of video monitoring. The method comprises the following steps: determining an unmonitored initial target from to-be-tracked targets based on visible ranges corresponding to respective initial monitoring parameters of at least two monitoring devices and the positions of the to-be-tracked targets; based on the position of the initial target which is not monitored, adjusting respective initial monitoring parameters of the at least two monitoring devices to obtain target monitoring parameters of the monitoring devices and the number of targets monitored by all the monitoring devices under the respective target monitoring parameters, the number of targets monitored by all the monitoring devices under respective initial monitoring parameters is greater than the number of targets monitored by all the monitoring devices under respective initial monitoring parameters; and controlling the at least two monitoring devices to perform target tracking based on the respective target monitoring parameters. According to the technical scheme provided by the invention, when the number of the to-be-tracked targets is large, the probability that the targets are missed to be tracked can be reduced to a certain extent, so that the reliability of target tracking is improved.

Description

Technical Field

[0001] The present application relates to the field of video surveillance technology, and in particular to a target tracking method, device, equipment and storage medium. Background Art

[0002] In some security scenarios, such as border monitoring, traffic management, and protection of important facilities, an intelligent monitoring system consisting of radar and linked dome cameras is usually used to automatically detect and track targets in the monitoring area to achieve video surveillance of the monitoring area.

[0003] The specific process is: first monitor the designated monitoring area through radar. If the radar finds a moving target in the monitoring area, it will report the target's location to the management platform in the intelligent monitoring system. Correspondingly, the management platform sends monitoring instructions to the linkage ball camera based on the target's location to control the linkage ball camera to zoom in, track and capture the target, thereby realizing the tracking of the target in the monitoring area.

[0004] However, when the management platform controls the linked ball camera to track targets, if the number of targets to be tracked is large, some targets may be missed from tracking. Summary of the invention

[0005] The present application provides a target tracking method, apparatus, device and storage medium to solve the defect in the prior art that if the number of targets to be tracked is large, some targets will be missed from tracking, which reduces the probability of targets being missed from tracking to a certain extent, thereby improving the reliability of target tracking.

[0006] The present application provides a target tracking method, comprising: Determine the location of the target to be tracked; Based on the visual ranges corresponding to the initial monitoring parameters of at least two monitoring devices and the positions of the targets to be tracked, determining the initial targets that are not monitored from the targets to be tracked; Based on the position of the initial target that is not monitored, adjusting the initial monitoring parameters of the at least two monitoring devices respectively to obtain the target monitoring parameters of each of the monitoring devices, the number of targets monitored by all the monitoring devices under the respective target monitoring parameters is greater than the number of targets monitored by all the monitoring devices under the respective initial monitoring parameters; The at least two monitoring devices are controlled to perform target tracking based on respective target monitoring parameters.

[0007] According to a target tracking method provided by the present application, adjusting the initial monitoring parameters of the at least two monitoring devices based on the position of the initial target that is not monitored to obtain the target monitoring parameters of each of the monitoring devices includes: For each of the monitoring devices, adjusting the initial monitoring parameters of the monitoring device based on the position of the initial target that is not monitored, to obtain a first monitoring parameter of the monitoring device; In a case where the target monitored by the monitoring device under the first monitoring parameter includes the first target monitored under the initial monitoring parameter and a second target in the unmonitored initial target, deleting the second target from the unmonitored initial target to obtain the unmonitored target; Based on the position of the unmonitored target, the first monitoring parameters of each of the at least two monitoring devices are adjusted to obtain the target monitoring parameters of each of the monitoring devices.

[0008] According to a target tracking method provided by the present application, adjusting the first monitoring parameters of each of the at least two monitoring devices based on the position of the unmonitored target to obtain the target monitoring parameters of each of the monitoring devices includes: For a first monitoring device whose visible ranges do not overlap among the at least two monitoring devices, determining visible ranges corresponding to each of the multiple groups of adjustable monitoring parameters of the first monitoring device; Determining the number of targets monitored by the first monitoring device under each set of adjustable monitoring parameters based on each of the visual ranges and the positions of the unmonitored targets; The first monitoring parameter is adjusted to an adjustable monitoring parameter corresponding to the maximum number of targets, to obtain a target monitoring parameter of the first monitoring device.

[0009] According to a target tracking method provided by the present application, adjusting the first monitoring parameters of each of the at least two monitoring devices based on the position of the unmonitored target to obtain the target monitoring parameters of each of the monitoring devices includes: Deleting all targets monitored by the first monitoring device under the corresponding target monitoring parameters from the unmonitored targets to obtain an unmonitored third target; Based on the respective visible ranges of the second monitoring devices whose visible ranges overlap among the at least two monitoring devices, determining a target second monitoring device whose visible range is at the edge from all the second monitoring devices; Based on the visible range of the target second monitoring device corresponding to the first monitoring parameter, determining a fourth target monitored by the target second monitoring device from the unmonitored third targets; Determining a second monitoring parameter of the target second monitoring device based on the position of the fourth target monitored by the target second monitoring device; Based on the first monitoring parameter and the second monitoring parameter of the target second monitoring device, the unmonitored third target, and the fourth target monitored by the target second monitoring device under the second monitoring parameter, the target monitoring parameters of each of the second monitoring devices are determined.

[0010] According to a target tracking method provided by the present application, determining a second monitoring parameter of the target second monitoring device based on the position of the fourth target monitored by the target second monitoring device includes: Performing variance calculation on the positions of all fourth targets to obtain target positions corresponding to all fourth targets; Based on the target position, the rotation angle of the target second monitoring device, and the number of targets monitored after the rotation of the target second monitoring device, the first monitoring parameter of the target second monitoring device is adjusted to obtain the second monitoring parameter.

[0011] According to a target tracking method provided by the present application, the target monitoring parameters of each second monitoring device are determined based on the first monitoring parameter and the second monitoring parameter of the target second monitoring device, the unmonitored third target, and the fourth target monitored by the target second monitoring device under the second monitoring parameter, including: Start traversing from other second monitoring devices whose visible range is at the secondary edge, and for other second monitoring devices currently traversed, determine the sixth target monitored by the other second monitoring devices from the fifth target based on the visible range of the other second monitoring devices under the first monitoring parameter, the fifth target being obtained by deleting the targets monitored by the traversed second monitoring devices under the corresponding second monitoring parameters from the unmonitored third targets; Determine, based on the position of the sixth target monitored by the other second monitoring device, a second monitoring parameter corresponding to the other second monitoring device; Based on the first monitoring parameters and the second monitoring parameters of all the second monitoring devices respectively, a target monitoring parameter of each of the second monitoring devices is determined.

[0012] The present application also provides a target tracking device, characterized in that it includes: A first determining unit, used to determine the position of the target to be tracked; A second determining unit is used to determine an unmonitored initial target from the targets to be tracked based on the visual ranges corresponding to the initial monitoring parameters of at least two monitoring devices and the positions of the targets to be tracked; an adjusting unit, configured to adjust the initial monitoring parameters of the at least two monitoring devices based on the position of the initial target that is not monitored, so as to obtain target monitoring parameters of the monitoring devices, wherein the number of targets monitored by all monitoring devices under their respective target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their respective initial monitoring parameters; A control unit is used to control the at least two monitoring devices to perform target tracking based on their respective target monitoring parameters.

[0013] The present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the target tracking method described in any one of the above is implemented.

[0014] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the target tracking method as described in any one of the above is implemented.

[0015] The present application also provides a computer program product, including a computer program, which implements any of the target tracking methods described above when executed by a processor.

[0016] The target tracking method, device, equipment and storage medium provided by the present application can first determine the position of the target to be tracked when tracking the target; and determine the initial target that has not been monitored from the targets to be tracked based on the visual range corresponding to the initial monitoring parameters of at least two monitoring devices and the position of the target to be tracked; based on the position of the initial target that has not been monitored, adjust the initial monitoring parameters of at least two monitoring devices to obtain the target monitoring parameters of each monitoring device, and the number of targets monitored by all monitoring devices under their respective target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their respective initial monitoring parameters; control at least two monitoring devices to track the target based on their respective target monitoring parameters. In this way, based on the position of the initial target that has not been monitored, adjust the initial monitoring parameters of at least two monitoring devices to enable at least two monitoring devices to track the target based on their respective adjusted target monitoring parameters, and even when the number of targets to be tracked is large, the probability of the target being missed can be reduced to a certain extent, thereby improving the reliability of target tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A flowchart of a target tracking method provided in an embodiment of the present application.

[0019] Figure 2 A schematic diagram of the positions of multiple targets reported by a radar according to an embodiment of the present application.

[0020] Figure 3 A schematic diagram of a target matrix reported by a radar provided in an embodiment of the present application.

[0021] Figure 4 A schematic diagram of a visual range corresponding to different zoom parameters provided in an embodiment of the present application.

[0022] Figure 5 A schematic diagram of a visual matrix of a monitoring device in a visual range corresponding to initial monitoring parameters provided in an embodiment of the present application.

[0023] Figure 6 A schematic diagram of a flow chart of adjusting initial monitoring parameters of at least two monitoring devices based on the position of an initial target that is not monitored is provided in an embodiment of the present application.

[0024] Figure 7 A schematic diagram of a flow chart of adjusting a first monitoring parameter of a first monitoring device whose visual ranges do not overlap is provided in an embodiment of the present application.

[0025] Figure 8 A schematic diagram of a flow chart of adjusting a first monitoring parameter of a second monitoring device having an overlapping visual range provided in an embodiment of the present application.

[0026] Fig. 9 A schematic diagram of the structure of a target tracking device provided in an embodiment of the present application.

[0027] Fig.10 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] In the embodiments of the present application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of the present application, the character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0030] The technical solution provided by the embodiment of the present application can be applied to security scenarios such as border monitoring, traffic management, and protection of important facilities. In existing security scenarios, an intelligent monitoring system consisting of radar and a linkage ball camera is usually used. If the radar finds a moving target in the monitoring area, it will report the target's location to the management platform in the intelligent monitoring system; correspondingly, the management platform sends a monitoring instruction to the linkage ball camera based on the target's location to control the linkage ball camera to zoom in on the target to track and capture, thereby tracking the target in the monitoring area.

[0031] However, when the management platform controls the linked ball camera to track targets, if the number of targets to be tracked is large, some targets may be missed from tracking.

[0032] In order to solve the defect that some targets are missed from tracking when the number of targets to be tracked is large, so as to reduce the probability of missed targets from tracking to a certain extent, thereby improving the reliability of target tracking, an embodiment of the present application provides a target tracking method. When tracking a target through at least two monitoring devices, for the initial targets not monitored by the at least two monitoring devices, the initial monitoring parameters of the at least two monitoring devices are further adjusted based on the initial positions of the unmonitored targets, so that the number of targets monitored by all monitoring devices under their respective adjusted target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their respective initial monitoring parameters; and control the at least two monitoring devices to track the targets based on their respective target monitoring parameters. In this way, even when the number of targets to be tracked is large, the probability of missed targets from tracking can be reduced to a certain extent, thereby improving the reliability of target tracking.

[0033] It can be understood that the executor of the present method can be an electronic device such as a management platform, computer or server used in an intelligent monitoring system, or it can be a target tracking device set in the electronic device. The target tracking device can be implemented by software, hardware or a combination of both, and can be specifically set according to actual needs.

[0034] The target tracking method provided by the present application will be described in detail below through the following specific embodiments. It is understandable that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0035] Figure 1 A flow chart of a target tracking method provided in an embodiment of the present application, for example, see Figure 1 As shown, the target tracking method may include: S101: Determine the position of a target to be tracked.

[0036] Normally, in an intelligent monitoring system, if the radar detects a moving target in the monitoring area, it will report the target's location to the management platform in the intelligent monitoring system; correspondingly, after receiving the target's location reported by the radar, the management platform can perform coordinate system conversion on the target's location reported by the radar to obtain the target's location in the preset reference coordinate system.

[0037] For example, suppose the target to be tracked includes n targets, which can be recorded as Tu=[t1, t2, ... tn]. Based on the positions of these targets, a multidimensional matrix can be generated, which is recorded as the target matrix The value of an element in the target matrix B can be 0 or 1, where 0 means that there is no target at the position corresponding to the element, and 1 means that there is a target at the position corresponding to the element.

[0038] See also Figure 2 As shown, Figure 2 A schematic diagram of the positions of multiple targets reported by a radar according to an embodiment of the present application. Assuming that the multiple targets include target 1, target 2, target 3, target 4, target 5 and target 6, the target matrix formed by the six targets can be seen in FIG. Figure 3 As shown, Figure 3 A schematic diagram of a target matrix reported by a radar provided in an embodiment of the present application. After receiving the positions of six targets reported by the radar, the management platform can perform coordinate system conversion on the six target positions to obtain the positions of the targets in a preset reference coordinate system.

[0039] For example, when constructing a preset reference coordinate system, the south direction of the azimuth can be defined as the positive direction of the X-axis, the east direction of the azimuth can be defined as the positive direction of the Y-axis, and the upper left corner position of the perimeter where at least two monitoring devices and radars are deployed can be defined as the origin (0, 0) in the preset reference coordinate system.

[0040] S102: determining an initial target that is not monitored from the targets to be tracked based on the visual ranges of at least two monitoring devices corresponding to their respective initial monitoring parameters and the positions of the targets to be tracked.

[0041] For example, the monitoring parameters may be PTZ (Pan Tilt Zoom) parameters, including a horizontal rotation parameter (which may be denoted as Pp), a vertical rotation parameter (which may be denoted as Pt) and a zoom parameter (which may be denoted as Pz), which together determine the monitoring range and monitoring flexibility of the monitoring device.

[0042] Among them, the horizontal rotation parameter is used to describe the distance or position of the monitoring device rotating to the left or right in the horizontal direction. It is an absolute or relative position indication, which is used to control the monitoring device to move from one position to another; the vertical rotation parameter is used to describe the angle of rotation of the monitoring device in the vertical direction, upward (looking up) or downward (looking down), so as to control the monitoring coverage of areas at different heights; the zoom parameter is used to describe the focal length adjustment capability of the monitoring device to achieve image zooming in or out.

[0043] It can be understood that in the embodiment of the present application, the initial monitoring parameters can be understood as the monitoring parameters in the current state of the monitoring device, that is, the current horizontal rotation state, vertical rotation state and zoom state.

[0044] For example, after the monitoring device is installed, the visual range corresponding to the monitoring device under different zoom parameters can be determined by trigonometric calculation according to the installation position and installation height of the monitoring device. It can be understood that the visual range corresponding to the monitoring device under different zoom parameters is different. For example, the visual range corresponding to the monitoring device under zoom parameter 1 can be recorded as A1, the visual range corresponding to the monitoring device under zoom parameter 2 can be recorded as A2, ..., the visual range corresponding to the monitoring device under zoom parameter n can be recorded as An, and the visual matrix dictionary corresponding to the monitoring device is obtained.

[0045] For example, see Figure 4 As shown, Figure 4 A schematic diagram of a visual range corresponding to different zoom parameters provided in an embodiment of the present application, combined with Figure 4 It can be seen that different zoom parameters 1, 2 and 3 correspond to different visible ranges. The smaller the zoom parameter, the larger the corresponding visible range.

[0046] It should be noted that when determining the installation position and installation height of the monitoring device, the installation position of the monitoring device can be converted into a coordinate system by means of geographic calculation to obtain the position of the monitoring device in a preset reference coordinate system.

[0047] When determining the visible range corresponding to the initial monitoring parameters of the monitoring device, the visual matrix dictionary corresponding to the monitoring device can be searched based on the zoom parameter Pz in the initial monitoring parameters of the monitoring device to obtain the visible range corresponding to the zoom parameter Pz, and the visible range corresponding to the zoom parameter Pz can be offset based on the horizontal rotation parameter Pp and the vertical rotation parameter Pt in the initial monitoring parameters to obtain the visible range corresponding to the initial monitoring parameters of the monitoring device.

[0048] For example, the visual matrix of the monitoring device in the visual range corresponding to the initial monitoring parameters can be recorded as For the convenience of calculation, for example, in the embodiment of the present application, the value of an element in the visible matrix A can be 0 or 1, where 0 indicates that the position corresponding to the element is not visible, and 1 indicates that the position corresponding to the element is visible.

[0049] Assume that the monitoring device includes camera 1, camera 2, camera 3 and camera 4. For example, see Figure 5 As shown, Figure 5 A schematic diagram of a visual matrix of a monitoring device in a visual range corresponding to an initial monitoring parameter provided by an embodiment of the present application, wherein: Figure 5 The multiple rectangular boxes in the figure are the visible matrices of the visible range corresponding to the zoom parameter Pz in the initial monitoring parameters of different cameras. The fan-shaped area is based on the horizontal rotation parameter Pp and the vertical rotation parameter Pt in the initial monitoring parameters, and the visible range corresponding to the zoom parameter Pz is offset to obtain the visible matrix of the visible range corresponding to the initial monitoring parameters of the camera.

[0050] In combination with the above description, the visible range corresponding to the respective initial monitoring parameters of each of at least two monitoring devices can be determined. For example, after determining the visible range corresponding to the respective initial monitoring parameters of each monitoring device, the visible matrices of each monitoring device in the visible range corresponding to the respective initial monitoring parameters can be added and merged to obtain a visible matrix corresponding to all monitoring devices. The visible matrix can be used to describe the global visible range covered by all monitoring devices. In this way, by constructing the global visible range of all monitoring devices, dynamic coverage of target monitoring can be achieved.

[0051] See also Figure 2 For target 2, rotating camera 1 and changing the visual range of camera 3 by zooming can both achieve monitoring of target 2. However, according to the method of the embodiment of the present application, considering that rotating camera 1 easily causes target 1 to move out of the monitoring coverage, the method of zooming camera 3 is adopted. In principle, the visual matrix of camera 3 after zooming is more matched with the target matrix formed by the monitoring target.

[0052] After determining the visible range of each monitoring device corresponding to its respective initial monitoring parameters, for each monitoring device, the visible range of the monitoring device corresponding to its respective initial monitoring parameters can be matched with the position of the target to be tracked. If the position of a target is not within the visible range of the monitoring device corresponding to the initial monitoring parameters, it means that the monitoring device cannot monitor the target. On the contrary, if the position of a target is within the visible range of the monitoring device corresponding to the initial monitoring parameters, it means that the monitoring device can monitor the target, that is, the target is the first target that the monitoring device can monitor. Similarly, the first target monitored by each monitoring device can be obtained.

[0053] After obtaining the first target seen by each monitoring device, the first target that can be monitored by each monitoring device can be deleted from the targets to be tracked, and the remaining targets are the above-mentioned initial targets that have not been monitored.

[0054] In order to solve the defect in the prior art that if the number of targets to be tracked is large, some targets may be missed from tracking, in an embodiment of the present application, after determining the initial target that has not been monitored, the initial monitoring parameters of at least two monitoring devices can be further adjusted based on the position of the initial target that has not been monitored, so that the number of targets monitored by all monitoring devices under their respective adjusted target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their respective initial monitoring parameters, that is, the following S103 is executed, so that based on the position of the initial target that has not been monitored, the initial monitoring parameters of at least two monitoring devices are adjusted to perform target tracking, and even when the number of targets to be tracked is large, the probability of the target being missed from tracking can be reduced to a certain extent, thereby improving the reliability of target tracking.

[0055] S103. Based on the position of the initial target that is not monitored, adjust the initial monitoring parameters of at least two monitoring devices to obtain the target monitoring parameters of each monitoring device, and the number of targets monitored by all monitoring devices under their respective target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their respective initial monitoring parameters.

[0056] For example, in an embodiment of the present application, when adjusting the initial monitoring parameters of the monitoring device, only one of the horizontal rotation parameter Pp, vertical rotation parameter Pt and zoom parameter Pz in the initial monitoring parameters can be adjusted; or any two of the horizontal rotation parameter Pp, vertical rotation parameter Pt and zoom parameter Pz in the initial monitoring parameters can be adjusted at the same time; of course, the horizontal rotation parameter Pp, vertical rotation parameter Pt and zoom parameter Pz in the initial monitoring parameters can also be adjusted at the same time, and the specific settings can be made according to actual needs.

[0057] S104: Control at least two monitoring devices to track the target based on their respective target monitoring parameters.

[0058] For example, when controlling the monitoring device to track the target based on its target monitoring parameters, the management platform may send a tracking control instruction to the monitoring device, and the tracking control instruction may carry its target monitoring parameters, so that the monitoring device can track the target based on the received target monitoring parameters.

[0059] It can be seen that in the embodiment of the present application, when performing target tracking, the position of the target to be tracked can be determined first; and based on the visual range corresponding to the initial monitoring parameters of at least two monitoring devices and the position of the target to be tracked, the initial target that has not been monitored is determined from the targets to be tracked; based on the position of the initial target that has not been monitored, the initial monitoring parameters of at least two monitoring devices are adjusted to obtain the target monitoring parameters of each monitoring device, and the number of targets monitored by all monitoring devices under their respective target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their respective initial monitoring parameters; and at least two monitoring devices are controlled to track the target based on their respective target monitoring parameters. In this way, based on the position of the initial target that has not been monitored, the initial monitoring parameters of at least two monitoring devices are adjusted to enable at least two monitoring devices to track the target based on their respective adjusted target monitoring parameters. Even when the number of targets to be tracked is large, the probability of the target being missed can be reduced to a certain extent, thereby improving the reliability of target tracking.

[0060] Based on the above Figure 1 In the embodiment shown, for example, in the above S103, the specific implementation of adjusting the initial monitoring parameters of at least two monitoring devices based on the position of the initial target that is not monitored can be seen in the following Figure 6 The embodiment shown.

[0061] Figure 6 A schematic diagram of a process for adjusting initial monitoring parameters of at least two monitoring devices based on the position of an initial target that is not monitored is provided in an embodiment of the present application. The method may include: S601 . For each monitoring device, adjust the initial monitoring parameters of the monitoring device based on the position of the initial target that is not monitored, to obtain the first monitoring parameters of the monitoring device.

[0062] After determining the initial target that was not monitored, for each monitoring device, in order to enable the monitoring device to monitor more targets, you can try to adjust the initial monitoring parameters of the monitoring device, so that the monitoring device can monitor more targets in addition to the first target it originally monitored under the adjusted first monitoring parameters, that is, execute the following S602.

[0063] S602: When the target monitored by the monitoring device under the first monitoring parameter includes the first target monitored under the initial monitoring parameter and the second target in the initial target that is not monitored, delete the second target from the initial target that is not monitored to obtain the target that is not monitored.

[0064] The second target may be understood as other targets other than the first target monitored by the monitoring device under the first monitoring parameters.

[0065] After adjusting the initial monitoring parameters of the monitoring device to obtain its first monitoring parameters, if the monitoring device also monitors a second target in addition to the first target under the first monitoring parameters, the second target can be deleted from the above-mentioned unmonitored initial targets to reduce the unmonitored initial targets and obtain unmonitored targets.

[0066] S603: Based on the position of the target that is not monitored, adjust the first monitoring parameters of at least two monitoring devices to obtain target monitoring parameters of each monitoring device.

[0067] It can be seen that in an embodiment of the present application, when adjusting the initial monitoring parameters of at least two monitoring devices based on the position of the initial target that is not monitored, for each monitoring device, the initial monitoring parameters of the monitoring device can be adjusted based on the position of the initial target that is not monitored, so that the monitoring device can monitor other second targets to the greatest extent possible under the adjusted first monitoring parameters without losing the original monitored first target, so as to reduce the number of unmonitored targets; and then, based on the position of the unmonitored target, further adjust the first monitoring parameters of at least two monitoring devices to perform target tracking, so that even when the number of targets to be tracked is large, the probability of missing the target can be reduced to a certain extent, thereby improving the reliability of target tracking.

[0068] Based on the above embodiments, after determining the unmonitored target, in order to reduce the probability of the target being missed in tracking to a certain extent, thereby improving the reliability of target tracking, in an embodiment of the present application, the above S603 can be used, that is, based on the position of the unmonitored target, to adjust the first monitoring parameters of at least two monitoring devices respectively, so that all monitoring devices can monitor more targets under their respective adjusted target monitoring parameters. In this way, even when the number of targets to be tracked is large, the probability of the target being missed in tracking can be reduced to a certain extent, thereby improving the reliability of target tracking.

[0069] For example, in the above S603, when adjusting the first monitoring parameters of at least two monitoring devices based on the position of the unmonitored target, the adjustment can be performed in different ways according to the type of the monitoring device. For example, according to the type of the monitoring device, the monitoring device can be divided into an isolated monitoring device and an associated monitoring device. Among them, an isolated monitoring device can be understood as a monitoring device whose visual range does not overlap with the visual range of other monitoring devices, and an associated monitoring device can be understood as a monitoring device whose visual range overlaps with the visual range of other monitoring devices.

[0070] For example, in the embodiment of the present application, the isolated monitoring device may be recorded as the first monitoring device, and the associated monitoring device may be recorded as the second monitoring device.

[0071] In combination with different types of second monitoring devices, in the above S603, when adjusting the first monitoring parameters of at least two monitoring devices based on the position of the unmonitored target, the first monitoring parameters of the first monitoring device whose visible range does not overlap can be adjusted first, and then the first monitoring parameters of the second monitoring device whose visible range overlaps can be adjusted, so that the first monitoring device and the second monitoring device can track the target based on their respective adjusted target monitoring parameters.

[0072] For the first monitoring device whose visual range does not overlap, in the above S603, based on the position of the unmonitored target, the specific implementation of adjusting the first monitoring parameter of the first monitoring device whose visual range does not overlap can be seen in the following Figure 7 The embodiment shown.

[0073] Figure 7 A schematic diagram of a process for adjusting a first monitoring parameter of a first monitoring device having no overlapping visual ranges provided in an embodiment of the present application, the method may include: S701. For a first monitoring device whose visible ranges do not overlap among at least two monitoring devices, determine the visible ranges corresponding to each of the multiple groups of adjustable monitoring parameters of the first monitoring device.

[0074] The multiple groups of adjustable monitoring parameters may be understood as adjustable monitoring parameters within an adjustable range of the monitoring parameters of the first monitoring device.

[0075] By way of example, when determining the visible range corresponding to any set of adjustable monitoring parameters of the first monitoring device, the visual matrix dictionary corresponding to the first monitoring device can be searched based on the zoom parameter Pz in the adjustable monitoring parameters corresponding to the first monitoring device to obtain the visible range corresponding to the zoom parameter Pz, and the visible range corresponding to the zoom parameter Pz can be offset based on the horizontal rotation parameter Pp and the vertical rotation parameter Pt in the adjustable monitoring parameters to obtain the visible range corresponding to the adjustable monitoring parameters of the first monitoring device.

[0076] After determining the visual ranges corresponding to the multiple groups of adjustable monitoring parameters of the first monitoring device, the following S702 may be executed: S702: Determine the number of targets monitored by the first monitoring device under each set of adjustable monitoring parameters based on each visible range and the position of the unmonitored targets.

[0077] For each group of adjustable monitoring parameters, the visible range corresponding to the adjustable monitoring parameters can be matched with the position of the unseen target. If the position of a certain unmonitored target is not within the visible range corresponding to the adjustable monitoring parameters, it means that the first monitoring device cannot monitor the target under the adjustable monitoring parameters; on the contrary, if the position of a certain unmonitored target is within the visible range corresponding to the adjustable monitoring parameters, it means that the first monitoring device can monitor the target under the adjustable monitoring parameters, so as to determine the number of targets monitored by the first monitoring device under the adjustable monitoring parameters; and so on, the number of targets monitored by the first monitoring device under each group of adjustable monitoring parameters can be obtained.

[0078] S703: Adjust the first monitoring parameter to an adjustable monitoring parameter corresponding to the maximum number of targets, and obtain a target monitoring parameter of the first monitoring device.

[0079] Among them, the adjustable monitoring parameter corresponding to the maximum number of targets can be understood as the number of targets monitored by the first monitoring device under the adjustable monitoring parameter, which is the largest compared to the number of targets monitored under other adjustable monitoring parameters.

[0080] It can be seen that in the embodiment of the present application, for the first monitoring device whose visible range does not overlap, the visible range corresponding to each of the multiple groups of adjustable monitoring parameters of the first monitoring device can be determined first; and based on each visible range and the position of the unmonitored target, the number of targets monitored by the first monitoring device under each group of adjustable monitoring parameters is determined; and then the adjustable monitoring parameters corresponding to the maximum number of targets are determined as the target monitoring parameters of the first monitoring device, so that the first monitoring device can monitor more targets with the target monitoring parameters. In this way, even when the number of targets to be tracked is large, the probability of missing a target can be reduced to a certain extent, thereby improving the reliability of target tracking.

[0081] For the second monitoring device with overlapping visual range, in the above S603, based on the position of the unmonitored target, the specific implementation of adjusting the first monitoring parameter of the second monitoring device with overlapping visual range can be seen in the following Figure 8 The embodiment shown.

[0082] Figure 8A schematic diagram of a process for adjusting a first monitoring parameter of a second monitoring device having an overlapping visual range provided in an embodiment of the present application, the method may include: S801. Delete all targets monitored by the first monitoring device under corresponding target monitoring parameters from unmonitored targets to obtain unmonitored third targets.

[0083] Combined with the above Figure 7 In the embodiment shown, by adjusting the respective target monitoring parameters of all the first monitoring devices, all the first monitoring devices can monitor more targets under their respective target monitoring parameters. These targets monitored by the first monitoring devices no longer need to be monitored by the second monitoring devices. Therefore, all targets monitored by the first monitoring devices under the corresponding target monitoring parameters can be deleted from the unmonitored targets, and the unmonitored third targets obtained are the targets that need to be monitored by the second monitoring devices.

[0084] S802: Based on the visible ranges of the respective second monitoring devices whose visible ranges overlap among at least two monitoring devices, determine a target second monitoring device whose visible range is at the edge from among all the second monitoring devices.

[0085] For example, when determining a target second monitoring device whose visible range is at the edge from all second monitoring devices, the visible range layout of all second monitoring devices can be determined based on the visible ranges of each second monitoring device whose visible ranges overlap among at least two monitoring devices, and based on the visible range layout, the target second monitoring device whose visible range is at the edge is determined from all second monitoring devices.

[0086] S803: Determine, based on the visible range corresponding to the first monitoring parameter of the target second monitoring device, a fourth target monitored by the target second monitoring device from the unmonitored third targets.

[0087] For example, when determining the fourth target monitored by the target second monitoring device from the unmonitored third target, the target second monitoring device can be matched with the unmonitored third target within the visible range corresponding to the first monitoring parameter. If the position of the third target is not within the visible range corresponding to the first monitoring parameter of the second monitoring device, it means that the second monitoring device cannot monitor the third target. On the contrary, if the position of the third target is within the visible range corresponding to the first monitoring parameter of the second monitoring device, it means that the second monitoring device can monitor the third target, that is, the third target is the fourth target that can be monitored by the second monitoring device, so as to separate the fourth target monitored by the target second monitoring device from the unmonitored third target.

[0088] After determining that the fourth target that can be monitored by the second monitoring device is at the edge of the visible range, the following S804 may be executed.

[0089] S804: Determine a second monitoring parameter of the target second monitoring device based on the position of the fourth target monitored by the target second monitoring device.

[0090] The second monitoring parameter may be understood as a monitoring parameter of the target second monitoring device adjusted on the basis of the first monitoring parameter.

[0091] By way of example, in an embodiment of the present application, when determining the second monitoring parameter of the target second monitoring device based on the position of the fourth target monitored by the target second monitoring device, the variance calculation can be performed on the positions of all fourth targets to obtain the target positions corresponding to all fourth targets; and based on the target position, the rotation angle of the target second monitoring device, and the number of targets monitored after the rotation of the target second monitoring device, the first monitoring parameter of the target second monitoring device is adjusted to obtain the second monitoring parameter.

[0092] For example, when adjusting the first monitoring parameter of the target second monitoring device based on the target position, the rotation angle of the target second monitoring device, and the number of targets monitored after the rotation of the target second monitoring device, the first monitoring parameter of the target second monitoring device can be adjusted based on the target position. During the adjustment process, it is necessary to balance the rotation angle of the target second monitoring device and the number of targets monitored after the rotation of the target second monitoring device, so that the target second monitoring device can monitor as many targets as possible when the rotation angle is small, so as to obtain the second monitoring parameter of the target second monitoring device after adjustment. This not only can reduce the probability of the target being missed in tracking to a certain extent, but also by controlling the rotation angle of the target second monitoring device, it can better solve the problem of blurred target tracking results caused by the fast rotation speed of the monitoring device, thereby effectively improving the target tracking effect.

[0093] It should be noted that in the embodiment of the present application, when balancing the rotation angle of the target second monitoring device and the number of targets monitored after the rotation of the target second monitoring device, the weights of the two factors, the rotation angle and the number of targets monitored after the rotation, can be set according to actual needs. Here, the embodiment of the present application does not make specific restrictions.

[0094] In combination with the above description, after the second monitoring parameter of the target second monitoring device is determined, the following S805 may be executed.

[0095] S805. Determine target monitoring parameters of each second monitoring device based on the first monitoring parameter, the second monitoring parameter, the unmonitored third target, and the fourth target monitored by the target second monitoring device under the second monitoring parameter.

[0096] By way of example, in an embodiment of the present application, when determining the target monitoring parameters of each second monitoring device based on the first monitoring parameter, the second monitoring parameter, the unmonitored third target, and the fourth target monitored by the target second monitoring device under the second monitoring parameter, the traversal can be started from other second monitoring devices at the secondary edge of the visible range. For the other second monitoring devices currently traversed, based on the visible range of the other second monitoring devices under the first monitoring parameter, the sixth target monitored by the other second monitoring devices is determined from the fifth target, the fifth target being obtained by deleting the targets monitored by the traversed second monitoring devices under the corresponding second monitoring parameters from the unmonitored third targets; and based on the positions of the sixth targets monitored by the other second monitoring devices, the corresponding second monitoring parameters of the other second monitoring devices are determined; and then based on the first monitoring parameters and the second monitoring parameters of all the second monitoring devices, the target monitoring parameters of each second monitoring device are determined.

[0097] For each second monitoring device, when determining the target monitoring parameters of each second monitoring device, it is possible to start from the target second monitoring device at the edge of the visible range and traverse in sequence. After determining the second monitoring parameters of the target second monitoring device at the edge of the visible range, the second monitoring parameters of other second monitoring devices at the secondary edge of the visible range can be determined. Its specific implementation is similar to the specific implementation of determining the second monitoring parameters of the target second monitoring device at the edge of the visible range as mentioned above, specifically including: the fourth target monitored by the target second monitoring device at the edge of the visible range can be excluding the fourth target monitored by the target second monitoring device at the edge of the visible range from the unmonitored third targets, to obtain the remaining unmonitored targets; and based on the visible range corresponding to the first monitoring parameter of the other second monitoring devices, from the remaining unmonitored targets Determine the fourth target that can be monitored by the other second monitoring device, perform variance calculation on the fourth target that can be monitored by the other second monitoring device, and obtain the target positions corresponding to all the fourth targets that can be monitored by the other second monitoring device; and based on the target position, the rotation angle of the other second monitoring device and the number of targets monitored after the rotation of the other second monitoring device, adjust the first monitoring parameters of the other second monitoring device to obtain the second monitoring parameters of the other second monitoring device; after determining the second monitoring parameters of the other second monitoring devices whose visible range is at the secondary edge, you can continue to determine the second monitoring parameters of the other second monitoring devices whose visible range is at the next secondary edge, and so on, you can determine the second monitoring parameters corresponding to the other second monitoring devices.

[0098] For example, when determining the target monitoring parameters of each second monitoring device based on the first monitoring parameters and the second monitoring parameters of all the second monitoring devices, the first monitoring parameters and the second monitoring parameters of all the second monitoring devices can be combined, and for each second monitoring device, one monitoring parameter can be selected from its first monitoring parameter and the second monitoring parameter as its target monitoring parameter, so that ultimately all the second monitoring devices can monitor more targets under their respective target monitoring parameters. In this way, even when the number of targets to be tracked is large, the probability of a target being missed can be reduced to a certain extent, thereby improving the reliability of target tracking.

[0099] The target tracking device provided in the present application is described below. The target tracking device described below and the target tracking method described above can be referenced to each other.

[0100] Fig. 9 A schematic diagram of a target tracking device provided in an embodiment of the present application is provided. For example, see Fig. 9 As shown, the target tracking device 90 may include: A first determining unit 901 is used to determine the position of the target to be tracked; A second determining unit 902 is configured to determine an initial target that is not monitored from the targets to be tracked based on the visual ranges corresponding to the initial monitoring parameters of at least two monitoring devices and the positions of the targets to be tracked; An adjusting unit 903 is configured to adjust the initial monitoring parameters of the at least two monitoring devices based on the position of the initial target that is not monitored, so as to obtain target monitoring parameters of the monitoring devices, and the number of targets monitored by all monitoring devices under their respective target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their respective initial monitoring parameters; The control unit 904 is used to control the at least two monitoring devices to perform target tracking based on their respective target monitoring parameters.

[0101] For example, in the embodiment of the present application, the adjusting unit 903 is used to adjust the initial monitoring parameters of each of the at least two monitoring devices based on the position of the initial target that is not monitored, so as to obtain the target monitoring parameters of each of the monitoring devices, including: For each of the monitoring devices, adjusting the initial monitoring parameters of the monitoring device based on the position of the initial target that is not monitored, to obtain a first monitoring parameter of the monitoring device; In a case where the target monitored by the monitoring device under the first monitoring parameter includes the first target monitored under the initial monitoring parameter and a second target in the unmonitored initial target, deleting the second target from the unmonitored initial target to obtain the unmonitored target; Based on the position of the unmonitored target, the first monitoring parameters of each of the at least two monitoring devices are adjusted to obtain the target monitoring parameters of each of the monitoring devices.

[0102] For example, in the embodiment of the present application, the adjusting unit 903 is used to adjust the first monitoring parameters of each of the at least two monitoring devices based on the position of the unmonitored target to obtain the target monitoring parameters of each of the monitoring devices, including: For a first monitoring device whose visible ranges do not overlap among the at least two monitoring devices, determining visible ranges corresponding to each of the multiple groups of adjustable monitoring parameters of the first monitoring device; Determining the number of targets monitored by the first monitoring device under each set of adjustable monitoring parameters based on each of the visual ranges and the positions of the unmonitored targets; The first monitoring parameter is adjusted to an adjustable monitoring parameter corresponding to the maximum number of targets, to obtain a target monitoring parameter of the first monitoring device.

[0103] For example, in the embodiment of the present application, the adjusting unit 903 is used to adjust the first monitoring parameters of each of the at least two monitoring devices based on the position of the unmonitored target to obtain the target monitoring parameters of each of the monitoring devices, including: Deleting all targets monitored by the first monitoring device under the corresponding target monitoring parameters from the unmonitored targets to obtain an unmonitored third target; Based on the respective visible ranges of the second monitoring devices whose visible ranges overlap among the at least two monitoring devices, determining a target second monitoring device whose visible range is at the edge from all the second monitoring devices; Based on the visible range of the target second monitoring device corresponding to the first monitoring parameter, determining a fourth target monitored by the target second monitoring device from the unmonitored third targets; Determining a second monitoring parameter of the target second monitoring device based on the position of the fourth target monitored by the target second monitoring device; Based on the first monitoring parameter and the second monitoring parameter of the target second monitoring device, the unmonitored third target, and the fourth target monitored by the target second monitoring device under the second monitoring parameter, the target monitoring parameters of each of the second monitoring devices are determined.

[0104] For example, in the embodiment of the present application, the adjusting unit 903 is used to determine the second monitoring parameter of the target second monitoring device based on the position of the fourth target monitored by the target second monitoring device, including: Performing variance calculation on the positions of all fourth targets to obtain target positions corresponding to all fourth targets; Based on the target position, the rotation angle of the target second monitoring device, and the number of targets monitored after the rotation of the target second monitoring device, the first monitoring parameter of the target second monitoring device is adjusted to obtain the second monitoring parameter.

[0105] For example, in an embodiment of the present application, the adjustment unit 903 is used to determine the target monitoring parameters of each second monitoring device based on the first monitoring parameter, the second monitoring parameter, the unmonitored third target, and the fourth target monitored by the target second monitoring device under the second monitoring parameter, including: Start traversing from other second monitoring devices whose visible range is at the secondary edge, and for other second monitoring devices currently traversed, determine the sixth target monitored by the other second monitoring devices from the fifth target based on the visible range of the other second monitoring devices under the first monitoring parameter, the fifth target being obtained by deleting the targets monitored by the traversed second monitoring devices under the corresponding second monitoring parameters from the unmonitored third targets; Determine, based on the position of the sixth target monitored by the other second monitoring device, a second monitoring parameter corresponding to the other second monitoring device; Based on the first monitoring parameters and the second monitoring parameters of all the second monitoring devices respectively, a target monitoring parameter of each of the second monitoring devices is determined.

[0106] The target tracking device 90 provided in the embodiment of the present application can execute the technical solution of the target tracking method in any of the above-mentioned embodiments. Its implementation principle and beneficial effects are similar to the implementation principle and beneficial effects of the target tracking method. Please refer to the implementation principle and beneficial effects of the target tracking method, and no further details will be given here.

[0107] Fig.10 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present application, such as Fig.10As shown, the electronic device may include: a processor 1010, a communication interface 1020, a memory 1030 and a communication bus 1040, wherein the processor 1010, the communication interface 1020 and the memory 1030 communicate with each other through the communication bus 1040. The processor 1010 may call the logic instructions in the memory 1030 to execute the target tracking method, which includes: determining the position of the target to be tracked; determining the unmonitored initial target from the targets to be tracked based on the visual ranges corresponding to the initial monitoring parameters of at least two monitoring devices and the position of the target to be tracked; adjusting the initial monitoring parameters of the at least two monitoring devices based on the position of the unmonitored initial target to obtain the target monitoring parameters of each monitoring device, and the number of targets monitored by all monitoring devices under their respective target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their respective initial monitoring parameters; and controlling the at least two monitoring devices to track the target based on their respective target monitoring parameters.

[0108] In addition, the logic instructions in the above-mentioned memory 1030 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0109] On the other hand, the present application also provides a computer program product, which includes a computer program, which can be stored on a computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the target tracking method provided by the above methods, which includes: determining the position of the target to be tracked; based on the visible range corresponding to the respective initial monitoring parameters of at least two monitoring devices, and the position of the target to be tracked, determining the unmonitored initial target from the targets to be tracked; based on the position of the unmonitored initial target, adjusting the initial monitoring parameters of each of the at least two monitoring devices to obtain the target monitoring parameters of each of the monitoring devices, the number of targets monitored by all monitoring devices under their respective target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their respective initial monitoring parameters; controlling the at least two monitoring devices to track the target based on their respective target monitoring parameters.

[0110] On the other hand, the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the target tracking method provided by the above-mentioned methods, the method comprising: determining the position of the target to be tracked; determining an unmonitored initial target from the targets to be tracked based on the visible ranges corresponding to the respective initial monitoring parameters of at least two monitoring devices, and the position of the target to be tracked; adjusting the respective initial monitoring parameters of the at least two monitoring devices based on the position of the unmonitored initial target to obtain the target monitoring parameters of each of the monitoring devices, the number of targets monitored by all monitoring devices under their respective target monitoring parameters being greater than the number of targets monitored by all monitoring devices under their respective initial monitoring parameters; and controlling the at least two monitoring devices to track the target based on their respective target monitoring parameters.

[0111] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0112] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A target tracking method, characterized in that: include: Determine the location of the target to be tracked; Based on the visual ranges corresponding to the initial monitoring parameters of at least two monitoring devices and the positions of the targets to be tracked, determining the initial targets that are not monitored from the targets to be tracked; Based on the position of the initial target that is not monitored, adjusting the initial monitoring parameters of the at least two monitoring devices respectively to obtain the target monitoring parameters of each of the monitoring devices, the number of targets monitored by all the monitoring devices under the respective target monitoring parameters is greater than the number of targets monitored by all the monitoring devices under the respective initial monitoring parameters; The at least two monitoring devices are controlled to perform target tracking based on respective target monitoring parameters.

2. The target tracking method according to claim 1, characterized in that: The adjusting the initial monitoring parameters of the at least two monitoring devices based on the position of the initial target that is not monitored to obtain the target monitoring parameters of each of the monitoring devices includes: For each of the monitoring devices, adjusting the initial monitoring parameters of the monitoring device based on the position of the initial target that is not monitored, to obtain a first monitoring parameter of the monitoring device; In a case where the target monitored by the monitoring device under the first monitoring parameter includes the first target monitored under the initial monitoring parameter and a second target in the unmonitored initial target, deleting the second target from the unmonitored initial target to obtain the unmonitored target; Based on the position of the unmonitored target, the first monitoring parameters of each of the at least two monitoring devices are adjusted to obtain the target monitoring parameters of each of the monitoring devices.

3. The target tracking method according to claim 2, characterized in that: The adjusting the first monitoring parameters of the at least two monitoring devices based on the position of the unmonitored target to obtain the target monitoring parameters of the monitoring devices includes: For a first monitoring device whose visible ranges do not overlap among the at least two monitoring devices, determining visible ranges corresponding to each of the multiple groups of adjustable monitoring parameters of the first monitoring device; Determining the number of targets monitored by the first monitoring device under each set of adjustable monitoring parameters based on each of the visual ranges and the positions of the unmonitored targets; The first monitoring parameter is adjusted to an adjustable monitoring parameter corresponding to the maximum number of targets, to obtain a target monitoring parameter of the first monitoring device.

4. The target tracking method according to claim 3, characterized in that: The adjusting the first monitoring parameters of the at least two monitoring devices based on the position of the unmonitored target to obtain the target monitoring parameters of the monitoring devices includes: Deleting all targets monitored by the first monitoring device under the corresponding target monitoring parameters from the unmonitored targets to obtain an unmonitored third target; Based on the respective visible ranges of the second monitoring devices whose visible ranges overlap among the at least two monitoring devices, determining a target second monitoring device whose visible range is at the edge from all the second monitoring devices; Based on the visible range of the target second monitoring device corresponding to the first monitoring parameter, determining a fourth target monitored by the target second monitoring device from the unmonitored third targets; Determining a second monitoring parameter of the target second monitoring device based on the position of the fourth target monitored by the target second monitoring device; Based on the first monitoring parameter and the second monitoring parameter of the target second monitoring device, the unmonitored third target, and the fourth target monitored by the target second monitoring device under the second monitoring parameter, the target monitoring parameters of each of the second monitoring devices are determined.

5. The target tracking method according to claim 4, characterized in that: The determining, based on the position of the fourth target monitored by the target second monitoring device, the second monitoring parameter of the target second monitoring device comprises: Performing variance calculation on the positions of all fourth targets to obtain target positions corresponding to all fourth targets; Based on the target position, the rotation angle of the target second monitoring device, and the number of targets monitored after the rotation of the target second monitoring device, the first monitoring parameter of the target second monitoring device is adjusted to obtain the second monitoring parameter.

6. The target tracking method according to claim 4, characterized in that: The determining the target monitoring parameters of each of the second monitoring devices based on the first monitoring parameter and the second monitoring parameter of the target second monitoring device, the unmonitored third target, and the fourth target monitored by the target second monitoring device under the second monitoring parameter, includes: Start traversing from other second monitoring devices whose visible range is at the secondary edge, and for other second monitoring devices currently traversed, determine the sixth target monitored by the other second monitoring devices from the fifth target based on the visible range of the other second monitoring devices under the first monitoring parameter, the fifth target being obtained by deleting the targets monitored by the traversed second monitoring devices under the corresponding second monitoring parameters from the unmonitored third targets; Determine, based on the position of the sixth target monitored by the other second monitoring device, a second monitoring parameter corresponding to the other second monitoring device; Based on the first monitoring parameters and the second monitoring parameters of all the second monitoring devices respectively, a target monitoring parameter of each of the second monitoring devices is determined.

7. A target tracking device, characterized in that: include: A first determining unit, used to determine the position of the target to be tracked; A second determining unit is used to determine an unmonitored initial target from the targets to be tracked based on the visual ranges corresponding to the initial monitoring parameters of at least two monitoring devices and the positions of the targets to be tracked; an adjusting unit, configured to adjust the initial monitoring parameters of the at least two monitoring devices based on the position of the initial target that is not monitored, so as to obtain target monitoring parameters of the monitoring devices, wherein the number of targets monitored by all monitoring devices under their respective target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their respective initial monitoring parameters; A control unit is used to control the at least two monitoring devices to perform target tracking based on their respective target monitoring parameters.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the target tracking method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the target tracking method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the target tracking method according to any one of claims 1 to 6 is implemented.

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