Target tracking method, device, apparatus and storage medium

Abstract

The application provides a target tracking method, device and equipment and a storage medium, and relates to the technical field of video monitoring. The method comprises the following steps: determining an initial target that is not monitored from a target to be tracked based on the visual range corresponding to the initial monitoring parameter of each of at least two monitoring devices and the position of the target to be tracked; adjusting the initial monitoring parameter of each of the at least two monitoring devices based on the position of the initial target that is not monitored, obtaining the target monitoring parameter of each monitoring device, and the number of targets monitored by all the monitoring devices under the target monitoring parameter of each monitoring device being greater than the number of targets monitored by all the monitoring devices under the initial monitoring parameter of each monitoring device; and controlling the at least two monitoring devices to track targets based on the target monitoring parameter of each monitoring device. The technical scheme provided by the application can reduce the probability of missed tracking of targets to a certain extent when the number of targets to be tracked is large, thereby improving the reliability of target tracking.

Description

Technical Field

[0001] This application relates to the field of video surveillance technology, and in particular to a target tracking method, apparatus, device, and storage medium. Background Technology

[0002] In some security scenarios, such as border monitoring, traffic management, and protection of important facilities, intelligent monitoring systems composed of radar and PTZ cameras are often used to automatically detect and track targets within the monitoring area in order to achieve video surveillance of the monitored area.

[0003] The specific process is as follows: First, the radar monitors the designated monitoring area. 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, the management platform sends a monitoring command to the PTZ camera based on the target's location to control the PTZ camera to zoom in and track the target, thereby achieving the tracking of the target in the monitoring area.

[0004] However, when the management platform controls the PTZ camera to track targets, if there are a large number of targets to be tracked, some targets may be missed. Summary of the Invention

[0005] This application provides a target tracking method, apparatus, device, and storage medium to address the shortcomings of existing technologies where some targets may be missed if the number of targets to be tracked is large. This reduces the probability of targets being missed to a certain extent, thereby improving the reliability of target tracking.

[0006] This application provides a target tracking method, including:

[0007] Determine the location of the target to be tracked;

[0008] Based on the visible range of at least two monitoring devices corresponding to their respective initial monitoring parameters, and the location of the target to be tracked, determine the initial target that was not monitored from the target to be tracked;

[0009] Based on the location of the unmonitored initial target, the initial monitoring parameters of each of the at least two monitoring devices are adjusted to obtain the target monitoring parameters of each monitoring device. 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.

[0010] Control the at least two monitoring devices to perform target tracking based on their respective target monitoring parameters.

[0011] According to a target tracking method provided in this application, the step of adjusting the initial monitoring parameters of at least two monitoring devices based on the position of the unmonitored initial target to obtain the target monitoring parameters of each monitoring device includes:

[0012] For each of the aforementioned monitoring devices, the initial monitoring parameters of the monitoring devices are adjusted based on the location of the unmonitored initial target to obtain the first monitoring parameters of the monitoring devices;

[0013] If the target monitored by the monitoring device under the first monitoring parameters includes the first target monitored under the initial monitoring parameters and the second target among the unmonitored initial targets, the second target is deleted from the unmonitored initial targets to obtain the unmonitored target;

[0014] Based on the location 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 monitoring device.

[0015] According to a target tracking method provided in this application, the step of adjusting the first monitoring parameters of each of the at least two monitoring devices based on the location of the unmonitored target to obtain the target monitoring parameters of each monitoring device includes:

[0016] For the first monitoring device among the at least two monitoring devices whose visible ranges do not overlap, determine the visible range corresponding to each of the multiple sets of adjustable monitoring parameters of the first monitoring device;

[0017] Based on the visible range and the location of the unmonitored target, determine the number of targets monitored by the first monitoring device under each set of adjustable monitoring parameters;

[0018] The first monitoring parameter is adjusted to the adjustable monitoring parameter corresponding to the maximum number of targets to obtain the target monitoring parameter of the first monitoring device.

[0019] According to a target tracking method provided in this application, the step of adjusting the first monitoring parameters of each of the at least two monitoring devices based on the location of the unmonitored target to obtain the target monitoring parameters of each monitoring device includes:

[0020] Remove all targets monitored by the first monitoring device under the corresponding target monitoring parameters from the unmonitored targets to obtain the unmonitored third targets;

[0021] Based on the visual range of each of the two second monitoring devices in which the visual range overlaps, a target second monitoring device whose visual range is at the edge is determined from all the second monitoring devices;

[0022] Based on the visible range of the target second monitoring device within the first monitoring parameter, a fourth target monitored by the target second monitoring device is determined from the unmonitored third target;

[0023] Based on the location of the fourth target monitored by the second target monitoring device, the second monitoring parameters of the second target monitoring device are determined;

[0024] 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 parameter of each second monitoring device is determined.

[0025] According to a target tracking method provided in this application, determining the second monitoring parameters of the second monitoring device based on the position of the fourth target monitored by the second monitoring device includes:

[0026] The variance of the positions of all fourth targets is calculated to obtain the target positions corresponding to all fourth targets.

[0027] Based on the target location, the rotation angle of the second target monitoring device, and the number of targets monitored after the second target monitoring device rotates, the first monitoring parameter of the second target monitoring device is adjusted to obtain the second monitoring parameter.

[0028] According to a target tracking method provided in this application, the step of determining the target monitoring parameters of each of the second monitoring devices based on the first monitoring parameters and second monitoring parameters 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 parameters includes:

[0029] Starting from other second monitoring devices located at the next edge of the visible range, the process is as follows: for the other second monitoring devices currently being 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 is obtained by deleting the targets monitored by the traversed second monitoring devices under the corresponding second monitoring parameter from the unmonitored third target.

[0030] Based on the location of the sixth target monitored by the other second monitoring devices, determine the second monitoring parameters corresponding to the other second monitoring devices;

[0031] Based on the first and second monitoring parameters of each of the second monitoring devices, the target monitoring parameters of each second monitoring device are determined.

[0032] This application also provides a target tracking device, characterized in that it includes:

[0033] The first determining unit is used to determine the location of the target to be tracked;

[0034] The second determining unit is used to determine the unmonitored initial target from the target to be tracked based on the visible range of at least two monitoring devices corresponding to their respective initial monitoring parameters and the position of the target to be tracked.

[0035] An adjustment unit is used to adjust the initial monitoring parameters of each of the at least two monitoring devices based on the location of the unmonitored initial target, so as to obtain the target monitoring parameters of each monitoring device. 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.

[0036] The control unit is used to control the at least two monitoring devices to perform target tracking based on their respective target monitoring parameters.

[0037] This 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 the processor executes the computer program to implement the target tracking method as described above.

[0038] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the target tracking method as described above.

[0039] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the target tracking method as described above.

[0040] The target tracking method, apparatus, device, and storage medium provided in this application, when performing target tracking, can first determine the location of the target to be tracked; and based on the visible range corresponding to the initial monitoring parameters of at least two monitoring devices and the location of the target to be tracked, identify unmonitored initial targets from the target to be tracked; based on the location of the unmonitored initial targets, adjust the initial monitoring parameters of the at least two monitoring devices to obtain the target monitoring parameters of each monitoring device, such that 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 control the at least two monitoring devices to perform target tracking based on their respective target monitoring parameters. In this way, by adjusting the initial monitoring parameters of at least two monitoring devices based on the location of the unmonitored initial targets, the at least two monitoring devices can perform target tracking based on their adjusted target monitoring parameters. Even when the number of targets to be tracked is large, the probability of targets being missed can be reduced to a certain extent, thereby improving the reliability of target tracking. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating a target tracking method provided in an embodiment of this application.

[0043] Figure 2 This is a schematic diagram illustrating the positions of multiple targets reported by radar, as provided in an embodiment of this application.

[0044] Figure 3 This is a schematic diagram of a radar-reported target matrix provided in an embodiment of this application.

[0045] Figure 4 This is a schematic diagram illustrating the visible range under different zoom parameters, as provided in an embodiment of this application.

[0046] Figure 5 This is a schematic diagram of the visibility matrix of a monitoring device within the visible range corresponding to the initial monitoring parameters, provided in an embodiment of this application.

[0047] Figure 6 This is a flowchart illustrating how to adjust the initial monitoring parameters of at least two monitoring devices based on the location of an unmonitored initial target, as provided in an embodiment of this application.

[0048] Figure 7 This is a flowchart illustrating how to adjust the first monitoring parameters of a first monitoring device whose visible range does not overlap, as provided in an embodiment of this application.

[0049] Figure 8 This is a flowchart illustrating an embodiment of the present application for adjusting the first monitoring parameter of a second monitoring device whose visible range overlaps.

[0050] Figure 9 This is a schematic diagram of the structure of a target tracking device provided in an embodiment of this application.

[0051] Figure 10 This is a schematic diagram of the physical structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] In the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0054] The technical solutions provided in this application can be adapted to security scenarios such as border monitoring, traffic management, and protection of important facilities. In existing security scenarios, intelligent monitoring systems composed of radar and linked PTZ cameras are typically used. If the radar detects a moving target in the monitored 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 linked PTZ cameras based on the target's location to control the linked PTZ cameras to zoom in, track, and capture the target, thereby achieving target tracking in the monitored area.

[0055] However, when the management platform controls the PTZ camera to track targets, if there are a large number of targets to be tracked, some targets may be missed.

[0056] To address the issue of some targets being missed when there are a large number of targets to be tracked, and to improve the reliability of target tracking by reducing the probability of targets being missed, this application provides a target tracking method. When tracking targets using at least two monitoring devices, for initial targets not monitored by the at least two monitoring devices, the initial monitoring parameters of each of the at least two monitoring devices are adjusted based on the initial positions of the unmonitored targets. This ensures that the number of targets monitored by all monitoring devices under their adjusted target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their initial monitoring parameters. Furthermore, the at least two monitoring devices are controlled to track targets based on their respective target monitoring parameters. This approach reduces the probability of targets being missed even when there are a large number of targets to be tracked, thereby improving the reliability of target tracking.

[0057] It is understood that the subject of this method can be an electronic device such as a management platform, computer or server in an intelligent monitoring system, or a target tracking device installed in the electronic device. The target tracking device can be implemented by software, hardware or a combination of both, and can be set according to actual needs.

[0058] The target tracking method provided in this application will be described in detail below through several specific embodiments. It is understood that these specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0059] Figure 1 This is a flowchart illustrating a target tracking method provided in an embodiment of this application. For example, please refer to... Figure 1 As shown, the target tracking method may include:

[0060] S101. Determine the location of the target to be tracked.

[0061] Typically, in an intelligent monitoring system, if a radar detects a moving target in the monitored 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 transformation on the target's reported location to obtain the target's position in a preset reference coordinate system.

[0062] For example, suppose there are n targets to be tracked, which can be denoted as Tu = [t1, t2, ..., tn]. Based on the positions of these targets, a multidimensional matrix can be generated, denoted as the target matrix. In the target matrix B, the elements can take the values ​​0 or 1, where 0 indicates that there is no target at the corresponding position and 1 indicates that there is a target at the corresponding position.

[0063] See also Figure 2 As shown, Figure 2 This is a schematic diagram illustrating the positions of multiple targets reported by radar, provided in an embodiment of this application. Assume the multiple targets include target 1, target 2, target 3, target 4, target 5, and target 6. The target matrix formed by these six targets can be found in [reference needed]. Figure 3 As shown, Figure 3 This is a schematic diagram of a target matrix reported by radar according to an embodiment of this application. After receiving the positions of 6 targets reported by the radar, the management platform can perform coordinate system transformation on the 6 target positions to obtain the positions of the targets in a preset reference coordinate system.

[0064] For example, when constructing a preset reference coordinate system, the positive direction of the X-axis can be defined as due south, the positive direction of the Y-axis can be defined as due east, and the upper left corner of the perimeter of at least two monitoring devices and radars can be defined as the origin (0, 0) of the preset reference coordinate system.

[0065] S102. Based on the visible range of at least two monitoring devices corresponding to their respective initial monitoring parameters and the location of the target to be tracked, determine the initial target that was not monitored from the targets to be tracked.

[0066] For example, the monitoring parameters can be PTZ (Pan Tilt Zoom) parameters, including horizontal rotation parameters (which can be denoted as Pp), vertical rotation parameters (which can be denoted as Pt), and zoom parameters (which can be denoted as Pz). These parameters together determine the monitoring range and monitoring flexibility of the monitoring equipment.

[0067] The horizontal rotation parameter describes the distance or position of the monitoring device rotating left or right in the horizontal direction. It is an absolute or relative position indicator used to control the movement of the monitoring device from one position to another. The vertical rotation parameter describes the angle of rotation of the monitoring device in the vertical direction, either upward (looking up) or downward (looking down), to control the monitoring coverage of areas at different heights. The zoom parameter describes the focal length adjustment capability of the monitoring device to achieve image magnification or reduction.

[0068] It is understood that, in the embodiments of this application, the initial monitoring parameters can be understood as the current state of the monitoring device, that is, the monitoring parameters in the current horizontal rotation state, vertical rotation state, and zoom state.

[0069] For example, after the monitoring equipment is installed, its visible range under different zoom parameters can be determined by using trigonometric functions based on its installation location and height. It's understood that the visible range differs depending on the zoom parameter; for instance, the visible range at zoom parameter 1 can be denoted as A1, at zoom parameter 2 as A2, and so on, until the visible range at zoom parameter n is denoted as An. This yields the corresponding visible range matrix dictionary for the monitoring equipment.

[0070] For example, see Figure 4 As shown, Figure 4 This is a schematic diagram illustrating the visible range under different zoom parameters provided in an embodiment of this application, combined with... Figure 4 It can be seen that different zoom parameters 1, 2 and 3 correspond to different ranges of view. The smaller the zoom parameter, the larger the range of view.

[0071] It should be noted that when determining the installation location and height of the monitoring equipment, a geographic calculation method can be used to transform the coordinate system of the installation location of the monitoring equipment to obtain the position of the monitoring equipment in a preset reference coordinate system.

[0072] When determining the visible range corresponding to the initial monitoring parameters of a monitoring device, the visible matrix dictionary corresponding to the monitoring device can be searched based on the zoom parameter Pz in the initial monitoring parameters to obtain the visible range corresponding to the zoom parameter Pz. Then, based on the horizontal rotation parameter Pp and the vertical rotation parameter Pt in the initial monitoring parameters, the visible range corresponding to the zoom parameter Pz is offset to obtain the visible range corresponding to the initial monitoring parameters of the monitoring device.

[0073] For example, the visibility matrix of the monitoring device within the visible range corresponding to the initial monitoring parameters can be denoted as: For ease of calculation, in this embodiment of the application, the value of an element in the visibility 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.

[0074] Assuming the monitoring equipment includes camera 1, camera 2, camera 3, and camera 4, see, for example, [link to example]. Figure 5 As shown, Figure 5 This application provides a schematic diagram of the visibility matrix of a monitoring device within the visible range corresponding to initial monitoring parameters, as shown in the embodiments of this application. Figure 5The multiple rectangles in the image represent the visual matrix of the visible range corresponding to the zoom parameter Pz in the initial monitoring parameters of different cameras. The sector represents the visual matrix of the visible range corresponding to the zoom parameter Pz, which is obtained by offsetting the visual range based on the horizontal rotation parameter Pp and the vertical rotation parameter Pt in the initial monitoring parameters.

[0075] Based on the above description, the visible range of each of the at least two monitoring devices corresponding to their respective initial monitoring parameters can be determined. For example, after determining the visible range of each monitoring device corresponding to its respective initial monitoring parameters, the visible matrices of each monitoring device corresponding to its respective initial monitoring parameters can be added and merged to obtain a visible matrix corresponding to all monitoring devices. This visible matrix can be used to describe the global visible range commonly covered by all monitoring devices. In this way, by constructing the global visible range of all monitoring devices, dynamic coverage of the target monitoring can be achieved.

[0076] See Figure 2 For target 2, both rotating camera 1 and changing the field of view of camera 3 by zooming can achieve monitoring of target 2. However, according to the method of this application embodiment, considering that rotating camera 1 may easily cause target 1 to move out of the monitoring coverage area, the method of monitoring by zooming camera 3 is adopted. In principle, this means that the field of view matrix after zooming camera 3 is more closely matched with the target matrix formed by the monitored targets.

[0077] After determining the visible range of each monitoring device according to its initial monitoring parameters, the visible range of each monitoring device can be matched with the location of the target to be tracked. If the location of a target is not within the visible range of the monitoring device according to its initial monitoring parameters, it means that the monitoring device cannot monitor the target; conversely, if the location of a target is within the visible range of the monitoring device according to its 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; and so on, the first target monitored by each monitoring device can be obtained.

[0078] 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 list of targets to be tracked. The remaining targets are the initial targets that were not monitored.

[0079] To address the shortcomings of existing technologies where some targets may be missed when the number of targets to be tracked is large, this application embodiment, after identifying the unmonitored initial targets, can further adjust the initial monitoring parameters of at least two monitoring devices based on the location of the unmonitored initial targets. This ensures that the number of targets monitored by all monitoring devices under their adjusted target monitoring parameters is greater than the number of targets monitored by all monitoring devices under their initial monitoring parameters. That is, the following S103 is executed. In this way, by adjusting the initial monitoring parameters of at least two monitoring devices based on the location of the unmonitored initial targets for target tracking, even when the number of targets to be tracked is large, the probability of targets being missed can be reduced to a certain extent, thereby improving the reliability of target tracking.

[0080] S103. Based on the location of the unmonitored initial target, adjust the initial monitoring parameters of at least two monitoring devices to obtain the target monitoring parameters of each monitoring device. 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.

[0081] For example, in the embodiments of this 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 simultaneously; of course, the horizontal rotation parameter Pp, vertical rotation parameter Pt, and zoom parameter Pz in the initial monitoring parameters can also be adjusted simultaneously, and the specific settings can be made according to actual needs.

[0082] S104. Control at least two monitoring devices to perform target tracking based on their respective target monitoring parameters.

[0083] For example, when the management platform controls the monitoring device to track a target based on its target monitoring parameters, it can send a tracking control command to the monitoring device. This tracking control command can carry its target monitoring parameters, enabling the monitoring device to track the target based on the received target monitoring parameters.

[0084] As can be seen from the embodiments of this application, when performing target tracking, the location of the target to be tracked can be determined first; and based on the visible range of at least two monitoring devices corresponding to their respective initial monitoring parameters and the location of the target to be tracked, unmonitored initial targets are identified from the targets to be tracked; based on the location of the unmonitored initial targets, 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; at least two monitoring devices are controlled to perform target tracking based on their respective target monitoring parameters. In this way, by adjusting the initial monitoring parameters of at least two monitoring devices based on the location of the unmonitored initial targets, at least two monitoring devices can perform target tracking based on their adjusted target monitoring parameters. Even when the number of targets to be tracked is large, the probability of targets being missed can be reduced to a certain extent, thereby improving the reliability of target tracking.

[0085] Based on the above Figure 1 In the illustrated embodiment, for example, the specific implementation of adjusting the initial monitoring parameters of at least two monitoring devices based on the location of the unmonitored initial target in S103 above can be found in the following... Figure 6 The example shown.

[0086] Figure 6 This application provides a flowchart illustrating how to adjust the initial monitoring parameters of at least two monitoring devices based on the location of an unmonitored initial target. The method may include:

[0087] S601. For each monitoring device, adjust the initial monitoring parameters of the monitoring device based on the location of the initial target that was not monitored, and obtain the first monitoring parameters of the monitoring device.

[0088] After identifying the initial targets that were not monitored, for each monitoring device, in order to enable the monitoring device to monitor more targets, the initial monitoring parameters of the monitoring device can be adjusted so that under the adjusted first monitoring parameters, the monitoring device can monitor more targets in addition to the original first target it monitored, that is, execute the following S602.

[0089] S602. If the target monitored by the monitoring device under the first monitoring parameters includes the first target monitored under the initial monitoring parameters and the second target among the unmonitored initial targets, the second target is deleted from the unmonitored initial targets to obtain the unmonitored target.

[0090] The second target can be understood as any other target that the monitoring equipment detects besides the first target under the first monitoring parameters.

[0091] After adjusting the initial monitoring parameters of the monitoring equipment to obtain its first monitoring parameters, if the monitoring equipment also monitors a second target other than the first target under the first monitoring parameters, the second target can be deleted from the aforementioned unmonitored initial targets to reduce the number of unmonitored initial targets and obtain the unmonitored targets.

[0092] S603. Based on the location of the unmonitored target, adjust the first monitoring parameters of at least two monitoring devices to obtain the target monitoring parameters of each monitoring device.

[0093] As can be seen from the embodiments of this application, when adjusting the initial monitoring parameters of at least two monitoring devices based on the location of the unmonitored initial target, for each monitoring device, the initial monitoring parameters of the monitoring device can be adjusted firstly based on the location of the unmonitored initial target, so that the monitoring device can monitor other second targets as much as possible under the adjusted first monitoring parameters without losing the original monitored first target, thereby reducing the number of unmonitored targets; then, based on the location of the unmonitored target, the first monitoring parameters of at least two monitoring devices are further adjusted for target tracking, so that even when the number of targets to be tracked is large, the probability of targets being missed can be reduced to a certain extent, thereby improving the reliability of target tracking.

[0094] Based on the above embodiments, after identifying unmonitored targets, in order to reduce the probability of targets being missed in tracking to a certain extent and thus improve the reliability of target tracking, in this embodiment, the first monitoring parameters of at least two monitoring devices can be adjusted based on the location of the unmonitored targets in step S603, so that all monitoring devices can monitor more targets under their adjusted target monitoring parameters. In this way, even when the number of targets to be tracked is large, the probability of targets being missed in tracking can be reduced to a certain extent, thereby improving the reliability of target tracking.

[0095] For example, in S603 above, when adjusting the first monitoring parameters of at least two monitoring devices based on the location of an unmonitored target, the adjustment can be performed in different ways depending on the type of monitoring device. For example, monitoring devices can be divided into isolated monitoring devices and associated monitoring devices according to their type. Isolated monitoring devices can be understood as monitoring devices whose visible range does not overlap with the visible ranges of other monitoring devices, while associated monitoring devices can be understood as monitoring devices whose visible range overlaps with the visible ranges of other monitoring devices.

[0096] For example, in the embodiments of this application, an isolated monitoring device may be referred to as a first monitoring device, and an associated monitoring device may be referred to as a second monitoring device.

[0097] 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 location 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.

[0098] For a first monitoring device whose visible range does not overlap, the specific implementation of adjusting the first monitoring parameter of the first monitoring device whose visible range does not overlap based on the location of the unmonitored target in S603 above can be found below. Figure 7 The example shown.

[0099] Figure 7 This application provides a flowchart illustrating the method for adjusting the first monitoring parameters of a first monitoring device whose visible range does not overlap. The method may include:

[0100] S701. For a first monitoring device in which the visible ranges of at least two monitoring devices do not overlap, determine the visible ranges corresponding to each of the multiple sets of adjustable monitoring parameters of the first monitoring device.

[0101] Among them, multiple sets of adjustable monitoring parameters can be understood as adjustable monitoring parameters within the adjustable range of the monitoring parameters of the first monitoring device.

[0102] For example, when determining the visible range corresponding to any set of adjustable monitoring parameters of the first monitoring device, the visible matrix dictionary corresponding to the first monitoring device can be searched based on the zoom parameter Pz in the adjustable monitoring parameters of the first monitoring device to obtain the visible range corresponding to the zoom parameter Pz. Then, based on the horizontal rotation parameter Pp and the vertical rotation parameter Pt in the adjustable monitoring parameters, the visible range corresponding to the zoom parameter Pz is offset to obtain the visible range corresponding to the adjustable monitoring parameters of the first monitoring device.

[0103] After determining the visible range corresponding to each of the multiple sets of adjustable monitoring parameters of the first monitoring device, the following S702 can be executed:

[0104] S702. Based on the location of each visible range and the unmonitored target, determine the number of targets monitored by the first monitoring device under each set of adjustable monitoring parameters.

[0105] For each set of adjustable monitoring parameters, the visible range corresponding to the adjustable monitoring parameter can be matched with the location of the unseen target. If the location of an unmonitored target is not within the visible range corresponding to the adjustable monitoring parameter, it means that the first monitoring device cannot monitor the target under the adjustable monitoring parameter. Conversely, if the location of an unmonitored target is within the visible range corresponding to the adjustable monitoring parameter, it means that the first monitoring device can monitor the target under the adjustable monitoring parameter, thus determining the number of targets monitored by the first monitoring device under the adjustable monitoring parameter. By analogy, the number of targets monitored by the first monitoring device under each set of adjustable monitoring parameters can be obtained.

[0106] S703. Adjust the first monitoring parameter to the adjustable monitoring parameter corresponding to the maximum number of targets to obtain the target monitoring parameter of the first monitoring device.

[0107] 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 this adjustable monitoring parameter being the highest compared to the number of targets monitored under other adjustable monitoring parameters.

[0108] As can be seen, in this embodiment of the application, for a first monitoring device whose visible range does not overlap, the visible range corresponding to each of the multiple sets of adjustable monitoring parameters of the first monitoring device can be determined first; and based on each visible range and the location of the unmonitored target, the number of targets monitored by the first monitoring device under each set of adjustable monitoring parameters can be determined; then the adjustable monitoring parameter corresponding to the maximum number of targets is determined as the target monitoring parameter of the first monitoring device, so that the first monitoring device can monitor more targets with the target monitoring parameter. This makes it possible to reduce the probability of targets being missed even when the number of targets to be tracked is large, thereby improving the reliability of target tracking.

[0109] For a second monitoring device with overlapping visual ranges, the specific implementation of adjusting the first monitoring parameter of the second monitoring device with overlapping visual ranges based on the location of the unmonitored target in S603 above can be found below. Figure 8 The example shown.

[0110] Figure 8 This application provides a flowchart illustrating the method for adjusting a first monitoring parameter of a second monitoring device whose visible range overlaps. The method may include:

[0111] S801. Delete all targets monitored by the first monitoring device under the corresponding target monitoring parameters from the unmonitored targets to obtain the unmonitored third targets.

[0112] In combination with the above Figure 7In the embodiment shown, by adjusting the target monitoring parameters of each of the first monitoring devices, each of the first monitoring devices can monitor more targets under its respective target monitoring parameters. These targets monitored by the first monitoring devices do not 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 resulting unmonitored third targets are the targets that need to be monitored by the second monitoring devices.

[0113] S802. Based on the visual range of each of the two second monitoring devices in which the visual range overlaps, determine the target second monitoring device whose visual range is at the edge from all the second monitoring devices.

[0114] For example, when determining the target second monitoring device whose visible range is at the edge from all the second monitoring devices, the visible range layout of all the second monitoring devices can be determined by the visible range of each of the second monitoring devices in which the visible range overlaps among at least two monitoring devices, and the target second monitoring device whose visible range is at the edge can be determined from all the second monitoring devices based on the visible range layout.

[0115] S803. Based on the visible range of the second monitoring device corresponding to the first monitoring parameter, determine the fourth target monitored by the second monitoring device from the unmonitored third target.

[0116] For example, when determining the fourth target monitored by the second monitoring device from the unmonitored third targets, the visible range of the second monitoring device corresponding to the first monitoring parameter can be matched with the unmonitored third targets. If the position of the third target is not within the visible range of the second monitoring device corresponding to the first monitoring parameter, it means that the second monitoring device cannot monitor the third target; conversely, if the position of the third target is within the visible range of the second monitoring device corresponding to the first monitoring parameter, it means that the second monitoring device can monitor the third target, that is, the third target is the fourth target that the second monitoring device can monitor. Thus, the fourth target monitored by the second monitoring device is segmented from the unmonitored third targets.

[0117] After identifying a fourth target that can be monitored by the second monitoring device and is located at the edge of the visible range, the following S804 can be executed.

[0118] S804. Based on the location of the fourth target monitored by the second target monitoring device, determine the second monitoring parameters of the second target monitoring device.

[0119] The second monitoring parameter can be understood as the monitoring parameter of the target second monitoring device after adjustment based on the first monitoring parameter.

[0120] For example, in this embodiment of the application, when determining the second monitoring parameters of the second monitoring device based on the position of the fourth target monitored by the second monitoring device, the variance of the positions of all the fourth targets can be calculated to obtain the target positions corresponding to all the fourth targets; and the first monitoring parameters of the second monitoring device can be adjusted based on the target positions, the rotation angle of the second monitoring device, and the number of targets monitored after the rotation of the second monitoring device to obtain the second monitoring parameters.

[0121] For example, when adjusting the first monitoring parameter of the second monitoring device based on the target location, the rotation angle of the second monitoring device, and the number of targets monitored after the second monitoring device rotates, the first monitoring parameter of the second monitoring device can be adjusted with the target location as the reference. During the adjustment process, it is necessary to balance the rotation angle of the second monitoring device and the number of targets monitored after the second monitoring device rotates, so that the second monitoring device can monitor as many targets as possible when the rotation angle is small, so as to obtain the adjusted second monitoring parameter of the second monitoring device. This not only reduces the probability of the target being missed to a certain extent, but also, by controlling the rotation angle of the second monitoring device, can better solve the problem of blurred target tracking results caused by the high rotation speed of the monitoring device, thereby effectively improving the target tracking effect.

[0122] It should be noted that, in the embodiments of this application, when balancing the rotation angle of the second target monitoring device and the number of targets monitored after the rotation of the second target monitoring device, the weights of the two factors, rotation angle and number of targets monitored after rotation, can be set according to actual needs. Here, the embodiments of this application do not impose specific restrictions.

[0123] Based on the above description, after determining the second monitoring parameters of the target second monitoring device, the following S805 can be executed.

[0124] S805. Based on the first monitoring parameters, the second monitoring parameters, the unmonitored third target, and the fourth target monitored by the second monitoring device under the second monitoring parameters, determine the target monitoring parameters of each second monitoring device.

[0125] For example, in this embodiment of the application, when determining the target monitoring parameters of each second monitoring device based on the first monitoring parameters, the second monitoring parameters, the unmonitored third target, and the fourth target monitored by the target second monitoring device under the second monitoring parameters, the traversal can start from other second monitoring devices located at the sub-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 parameters, the sixth target monitored by the other second monitoring devices is determined from the fifth target. The fifth target is obtained by deleting the targets monitored by the traversed second monitoring devices under the corresponding second monitoring parameters from the unmonitored third targets. Based on the position of the sixth target monitored by the other second monitoring devices, the second monitoring parameters corresponding to the other second monitoring devices are determined. 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.

[0126] For each second monitoring device, when determining the target monitoring parameters for each device, one can start by traversing the target second monitoring device whose visible range is at the edge, and proceed sequentially. After determining the second monitoring parameters of the target second monitoring device whose visible range is at the edge, the second monitoring parameters of other second monitoring devices whose visible range is at the sub-edge can be determined. The specific implementation is similar to the above-described implementation of determining the second monitoring parameters of the target second monitoring device whose visible range is at the edge. Specifically, it includes: obtaining the remaining unmonitored targets from the unmonitored third targets excluding the fourth target monitored by the target second monitoring device whose visible range is at the edge; and, based on the visible range of other second monitoring devices corresponding to the first monitoring parameters, selecting from the remaining unmonitored targets... The fourth target that can be monitored by the other second monitoring device is determined. The variance of the fourth target that can be monitored by the other second monitoring device is calculated to obtain the target positions corresponding to all the fourth targets that can be monitored by the other second monitoring device. Based on the target positions, the rotation angle of the other second monitoring device, and the number of targets monitored after the other second monitoring device rotates, the first monitoring parameter of the other second monitoring device is adjusted to obtain the second monitoring parameter of the other second monitoring device. After determining the second monitoring parameter of the other second monitoring device whose visible range is at the second edge, the second monitoring parameter of the other second monitoring device whose visible range is at the second-second edge can be determined. By analogy, the second monitoring parameter corresponding to the other second monitoring devices can be determined.

[0127] For example, when determining the target monitoring parameters for each second monitoring device based on its own first and second monitoring parameters, the first and second monitoring parameters of each second monitoring device can be combined. For each second monitoring device, one monitoring parameter can be selected from its first and second monitoring parameters as its target monitoring parameter. This allows all second monitoring devices to monitor more targets under their respective target monitoring parameters. This reduces the probability of targets being missed even when there are many targets to be tracked, thereby improving the reliability of target tracking.

[0128] The target tracking device provided in this application is described below. The target tracking device described below can be referred to in correspondence with the target tracking method described above.

[0129] Figure 9 This is a schematic diagram of the structure of a target tracking device provided in an embodiment of this application. For example, please refer to [link to relevant documentation]. Figure 9 As shown, the target tracking device 90 may include:

[0130] The first determining unit 901 is used to determine the position of the target to be tracked;

[0131] The second determining unit 902 is used to determine an unmonitored initial target from the targets to be tracked based on the visible range of at least two monitoring devices corresponding to their respective initial monitoring parameters and the position of the target to be tracked.

[0132] The adjustment unit 903 is used to adjust the initial monitoring parameters of the at least two monitoring devices based on the position of the unmonitored initial target, so as to obtain the target monitoring parameters of each monitoring device. 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.

[0133] 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.

[0134] For example, in an embodiment of this application, the adjustment unit 903 is used to adjust the initial monitoring parameters of each of the at least two monitoring devices based on the location of the unmonitored initial target, to obtain the target monitoring parameters of each monitoring device, including:

[0135] For each of the aforementioned monitoring devices, the initial monitoring parameters of the monitoring devices are adjusted based on the location of the unmonitored initial target to obtain the first monitoring parameters of the monitoring devices;

[0136] If the target monitored by the monitoring device under the first monitoring parameters includes the first target monitored under the initial monitoring parameters and the second target among the unmonitored initial targets, the second target is deleted from the unmonitored initial targets to obtain the unmonitored target;

[0137] Based on the location 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 monitoring device.

[0138] For example, in an embodiment of this application, the adjustment unit 903 is used to adjust the first monitoring parameters of each of the at least two monitoring devices based on the location of the unmonitored target, to obtain the target monitoring parameters of each monitoring device, including:

[0139] For the first monitoring device among the at least two monitoring devices whose visible ranges do not overlap, determine the visible range corresponding to each of the multiple sets of adjustable monitoring parameters of the first monitoring device;

[0140] Based on the visible range and the location of the unmonitored target, determine the number of targets monitored by the first monitoring device under each set of adjustable monitoring parameters;

[0141] The first monitoring parameter is adjusted to the adjustable monitoring parameter corresponding to the maximum number of targets to obtain the target monitoring parameter of the first monitoring device.

[0142] For example, in an embodiment of this application, the adjustment unit 903 is used to adjust the first monitoring parameters of each of the at least two monitoring devices based on the location of the unmonitored target, to obtain the target monitoring parameters of each monitoring device, including:

[0143] Remove all targets monitored by the first monitoring device under the corresponding target monitoring parameters from the unmonitored targets to obtain the unmonitored third targets;

[0144] Based on the visual range of each of the two second monitoring devices in which the visual range overlaps, a target second monitoring device whose visual range is at the edge is determined from all the second monitoring devices;

[0145] Based on the visible range of the target second monitoring device within the first monitoring parameter, a fourth target monitored by the target second monitoring device is determined from the unmonitored third target;

[0146] Based on the location of the fourth target monitored by the second target monitoring device, the second monitoring parameters of the second target monitoring device are determined;

[0147] 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 parameter of each second monitoring device is determined.

[0148] For example, in an embodiment of this application, the adjustment unit 903 is used to determine a second monitoring parameter of the target second monitoring device based on the location of the fourth target monitored by the target second monitoring device, including:

[0149] The variance of the positions of all fourth targets is calculated to obtain the target positions corresponding to all fourth targets.

[0150] Based on the target location, the rotation angle of the second target monitoring device, and the number of targets monitored after the second target monitoring device rotates, the first monitoring parameter of the second target monitoring device is adjusted to obtain the second monitoring parameter.

[0151] For example, in this embodiment of the application, the adjustment unit 903 is used to determine the target monitoring parameters of each of the second monitoring devices based on the first monitoring parameters and the second monitoring parameters 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 parameters, including:

[0152] Starting from other second monitoring devices located at the next edge of the visible range, the process is as follows: for the other second monitoring devices currently being 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 is obtained by deleting the targets monitored by the traversed second monitoring devices under the corresponding second monitoring parameter from the unmonitored third target.

[0153] Based on the location of the sixth target monitored by the other second monitoring devices, determine the second monitoring parameters corresponding to the other second monitoring devices;

[0154] Based on the first and second monitoring parameters of each of the second monitoring devices, the target monitoring parameters of each second monitoring device are determined.

[0155] The target tracking device 90 provided in this application embodiment can execute the technical solution of the target tracking method in any of the above embodiments. Its implementation principle and beneficial effects are similar to those of the target tracking method. Please refer to the implementation principle and beneficial effects of the target tracking method. It will not be repeated here.

[0156] Figure 10This is a schematic diagram of the physical structure of an electronic device provided in an embodiment of this application, such as... Figure 10 As shown, the electronic device may include: a processor 1010, a communications interface 1020, a memory 1030, and a communication bus 1040, wherein the processor 1010, the communications interface 1020, and the memory 1030 communicate with each other through the communication bus 1040. The processor 1010 can call logical instructions in the memory 1030 to execute a target tracking method, which includes: determining the position of the target to be tracked; determining unmonitored initial targets from the targets to be tracked based on the visible range of at least two monitoring devices corresponding to their respective initial monitoring parameters and the position of the target to be tracked; adjusting the initial monitoring parameters of the at least two monitoring devices based on the positions of the unmonitored initial targets to obtain target monitoring parameters for each monitoring device, 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; and controlling the at least two monitoring devices to perform target tracking based on their respective target monitoring parameters.

[0157] Furthermore, the logical instructions in the aforementioned memory 1030 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0158] On the other hand, this application also provides a computer program product, which includes a computer program that can be stored on a computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the target tracking method provided by the above methods. The method includes: determining the position of the target to be tracked; determining an unmonitored initial target from the targets to be tracked based on the visible range of at least two monitoring devices corresponding to their respective initial monitoring parameters 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 target monitoring parameters for each monitoring device, 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; and controlling the at least two monitoring devices to perform target tracking based on their respective target monitoring parameters.

[0159] In another aspect, this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform the target tracking methods provided by the above methods. The method includes: determining the location of a target to be tracked; determining unmonitored initial targets from the targets to be tracked based on the visible range of at least two monitoring devices corresponding to their respective initial monitoring parameters and the location of the target to be tracked; adjusting the initial monitoring parameters of the at least two monitoring devices based on the location of the unmonitored initial targets to obtain target monitoring parameters for each monitoring device, 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; and controlling the at least two monitoring devices to perform target tracking based on their respective target monitoring parameters.

[0160] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0161] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0162] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A target tracking method, characterized in that, include: Determine the location of the target to be tracked; Based on the visible range of at least two monitoring devices corresponding to their respective initial monitoring parameters, and the location of the target to be tracked, determine the initial target that was not monitored from the target to be tracked; Based on the location of the unmonitored initial target, the initial monitoring parameters of each of the at least two monitoring devices are adjusted to obtain the target monitoring parameters of each monitoring device. 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 the at least two monitoring devices to perform target tracking based on their respective target monitoring parameters; The step of adjusting the initial monitoring parameters of at least two monitoring devices based on the location of the unmonitored initial target to obtain the target monitoring parameters of each monitoring device includes: For each of the aforementioned monitoring devices, the initial monitoring parameters of the monitoring devices are adjusted based on the location of the unmonitored initial target to obtain the first monitoring parameters of the monitoring devices; If the target monitored by the monitoring device under the first monitoring parameters includes the first target monitored under the initial monitoring parameters and the second target among the unmonitored initial targets, the second target is deleted from the unmonitored initial targets to obtain the unmonitored target; Based on the location 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 monitoring device.

2. The target tracking method according to claim 1, characterized in that, The step of adjusting the first monitoring parameters of each of the at least two monitoring devices based on the location of the unmonitored target to obtain the target monitoring parameters of each monitoring device includes: For the first monitoring device among the at least two monitoring devices whose visible ranges do not overlap, determine the visible range corresponding to each of the multiple sets of adjustable monitoring parameters of the first monitoring device; Based on the visible range and the location of the unmonitored target, determine the number of targets monitored by the first monitoring device under each set of adjustable monitoring parameters; The first monitoring parameter is adjusted to the adjustable monitoring parameter corresponding to the maximum number of targets to obtain the target monitoring parameter of the first monitoring device.

3. The target tracking method according to claim 2, characterized in that, The step of adjusting the first monitoring parameters of each of the at least two monitoring devices based on the location of the unmonitored target to obtain the target monitoring parameters of each monitoring device includes: Remove all targets monitored by the first monitoring device under the corresponding target monitoring parameters from the unmonitored targets to obtain the unmonitored third targets; Based on the visual range of each of the two second monitoring devices in which the visual range overlaps, a target second monitoring device whose visual range is at the edge is determined from all the second monitoring devices; Based on the visible range of the target second monitoring device within the first monitoring parameter, a fourth target monitored by the target second monitoring device is determined from the unmonitored third target; Based on the location of the fourth target monitored by the second target monitoring device, the second monitoring parameters of the second target 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, the target monitoring parameter of each second monitoring device is determined.

4. The target tracking method according to claim 3, characterized in that, The step of determining the second monitoring parameters of the second monitoring device based on the location of the fourth target monitored by the second monitoring device includes: The variance of the positions of all fourth targets is calculated to obtain the target positions corresponding to all fourth targets. Based on the target location, the rotation angle of the second target monitoring device, and the number of targets monitored after the second target monitoring device rotates, the first monitoring parameter of the second target monitoring device is adjusted to obtain the second monitoring parameter.

5. The target tracking method according to claim 3, characterized in that, The determination of target monitoring parameters for each of the second monitoring devices, based on the first monitoring parameters and second monitoring parameters 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 parameters, includes: Starting from other second monitoring devices located at the next edge of the visible range, the process is as follows: for the other second monitoring devices currently being 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 is obtained by deleting the targets monitored by the traversed second monitoring devices under the corresponding second monitoring parameter from the unmonitored third target. Based on the location of the sixth target monitored by the other second monitoring devices, determine the second monitoring parameters corresponding to the other second monitoring devices; Based on the first and second monitoring parameters of each of the second monitoring devices, the target monitoring parameters of each second monitoring device are determined.

6. A target tracking device, characterized in that, include: The first determining unit is used to determine the location of the target to be tracked; The second determining unit is used to determine the unmonitored initial target from the target to be tracked based on the visible range of at least two monitoring devices corresponding to their respective initial monitoring parameters and the position of the target to be tracked. An adjustment unit is used to adjust the initial monitoring parameters of each of the at least two monitoring devices based on the location of the unmonitored initial target, so as to obtain the target monitoring parameters of each monitoring device. 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; The adjustment unit is configured to adjust the initial monitoring parameters of each of the at least two monitoring devices based on the location of the unmonitored initial target, thereby obtaining the target monitoring parameters of each monitoring device, including: For each of the aforementioned monitoring devices, the initial monitoring parameters of the monitoring devices are adjusted based on the location of the unmonitored initial target to obtain the first monitoring parameters of the monitoring devices; If the target monitored by the monitoring device under the first monitoring parameters includes the first target monitored under the initial monitoring parameters and the second target among the unmonitored initial targets, the second target is deleted from the unmonitored initial targets to obtain the unmonitored target; Based on the location 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 monitoring device.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the target tracking method as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the target tracking method as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the target tracking method as described in any one of claims 1 to 5.

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