View field range determination method and device of image collector, equipment and medium

Abstract

The embodiment of the invention discloses a view field range determination method and device of an image collector, electronic equipment and a medium. The method comprises the steps of determining a theoretical view field range of an image collector according to a view field angle and installation parameters of the image collector and a target visual distance of the image collector; determining a target interception parameter according to the height of the image collector and / or the height of the monitoring object; and determining an actual view field range of the image collector according to the theoretical view field range and the target interception parameter. According to the scheme, the influence of the field angle, the installation parameter, the target visual distance, the height of the image collector and / or the height of the monitoring object of the image collector on the actual field range of the image collector can be comprehensively considered, so that the actual field range of the image collector is more accurately determined; the problem that part of the area cannot be monitored due to the fact that the view field blind area is still determined to be the visible area is solved.

Description

Technical Field

[0001] The present application relates to the field of image technology, and in particular to a method, device, equipment and medium for determining a field of view range of an image collector. Background Art

[0002] Image acquisition is increasingly used in various industries, such as traffic monitoring, building monitoring, field intrusion monitoring, etc. The image collectors used for image acquisition have a certain field of view. The image collector can capture and monitor scenes within the field of view, but cannot capture and monitor scenes outside the field of view, which are blind spots.

[0003] The current solutions for determining the field of view range of an image collector are generally based on the field of view angle of the image collector. However, the field of view range determined based on the field of view angle of the image collector can only reflect the theoretical range determined by the image acquisition parameters of the image collector, and does not necessarily reflect the actual range that the image collector can monitor in actual scene applications. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment and medium for determining the field of view range of an image collector, so as to more accurately determine the actual field of view range of the image collector.

[0005] According to one aspect of the present application, a method for determining a field of view range of an image collector is provided, the method comprising:

[0006] Determine the theoretical field of view range of the image collector according to the field of view angle, installation parameters and target visual distance of the image collector;

[0007] Determining target interception parameters according to the height of the image collector and / or the height of the monitored object;

[0008] The actual field of view of the image collector is determined according to the theoretical field of view and the target capture parameters.

[0009] According to one aspect of the present application, a device for determining a field of view range of an image collector is provided, the device comprising:

[0010] A module for determining the theoretical field of view range, for determining the theoretical field of view range of the image collector according to the field of view angle, installation parameters and target visible distance of the image collector;

[0011] A target interception parameter determination module, used to determine the target interception parameter according to the height of the image collector and / or the height of the monitored object;

[0012] The actual field of view range determination module is used to determine the actual field of view range of the image collector according to the theoretical field of view range and the target interception parameter.

[0013] According to another aspect of the present application, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the method for determining the field of view range of the image collector of any embodiment of the present application.

[0017] According to another aspect of the present application, a computer-readable storage medium is provided, which stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the field of view range of an image collector of any embodiment of the present application when executed.

[0018] The technical solution of the embodiment of the present application determines the theoretical field of view range of the image collector according to the field of view angle, installation parameters and target visible distance of the image collector; determines the target interception parameters according to the height of the image collector and / or the height of the monitored object; and determines the actual field of view range of the image collector according to the theoretical field of view range and the target interception parameters. The above scheme can determine the theoretical field of view range that can be collected by the image collector according to the target visible distance and installation parameters, while determining the field of view range according to the field of view angle of the image collector. The target interception parameters are determined by comprehensively considering the height of the image collector and / or the height of the monitored object, and the theoretical field of view range is intercepted, taking into account the influence of the height of the ground plane and / or the monitored object on the actual field of view range of the image collector, so as to more accurately determine the actual field of view range of the image collector, and avoid the problem that the field of view blind area is still determined as a visible area, resulting in the inability to monitor some areas.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a method for determining the field of view range of an image collector provided according to Embodiment 1 of the present application;

[0022] Figure 2 The first schematic diagram is determined according to the actual field of view range provided in the first embodiment of the present application;

[0023] Figure 3 The second schematic diagram is determined according to the actual field of view range provided in the first embodiment of the present application;

[0024] Figure 4 The third schematic diagram is determined according to the actual field of view range provided in the first embodiment of the present application;

[0025] Figure 5 The fourth schematic diagram is determined according to the actual field of view provided in the first embodiment of the present application;

[0026] Figure 6 The fifth schematic diagram is determined according to the actual field of view provided in the first embodiment of the present application;

[0027] Figure 7 is a flow chart of a method for determining the field of view range of an image collector provided in accordance with Embodiment 2 of the present application;

[0028] Figure 8 is a flow chart of a method for determining the field of view range of an image collector provided in accordance with Embodiment 3 of the present application;

[0029] Fig. 9 It is a structural schematic diagram of a device for determining the field of view range of an image collector provided according to Embodiment 4 of the present application;

[0030] Fig.10 It is a structural schematic diagram of an electronic device provided according to Embodiment 5 of the present application. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second", "third", "fourth", "actual", "preset", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] Embodiment 1

[0034] Figure 1 This is a flow chart of a method for determining the field of view of an image collector provided in the first embodiment of the present application. The embodiment of the present application can be applied to the case of determining the actual field of view of an image collector. Typically, it can be applied to the case of limiting the field of view of an image collector by comprehensively considering various boundary conditions. The method can be executed by a field of view determination device of an image collector. The field of view determination device of the image collector can be implemented in the form of hardware and / or software. The field of view determination device of the image collector can be configured in an electronic device. Figure 1 As shown, the method includes:

[0035] S110, determining a theoretical field of view range of the image collector according to the field of view angle, installation parameters and target visible distance of the image collector.

[0036] Among them, the image collector can be an image collector set in any scene. In general, in order to facilitate the analysis of the visible range and blind area of ​​the entire scene, the scheme of the embodiment of the present application can be performed for all image collectors located in the scene and the image collectors whose theoretical field of view falls into the scene. The field of view of the image collector includes a horizontal field of view angle along the horizontal direction and a vertical field of view angle along the vertical direction. The horizontal direction is the direction parallel to the ground plane, and the vertical direction is the direction perpendicular to the ground plane. The installation parameters of the image collector include the installation angle in the horizontal direction and the pitch angle. The target visible distance of the image collector is the visible distance currently set by the image collector, and the target visible distance is less than or equal to the farthest visible distance determined by the hardware performance of the image collector. The field of view angle and the target visible distance of the image collector can be determined according to the image acquisition parameters of the image collector, and the installation parameters can be obtained according to the user input.

[0037] For example, the orientation of the image collector when performing image acquisition can be determined based on the installation parameters of the image collector, the range of the image collector at the breadth level when performing image acquisition can be determined based on the field of view angle, and the range of the image collector at the distance level when performing image acquisition can be determined based on the target visible distance. The theoretical field of view range of the image collector can be determined by combining the orientation of image acquisition, the range of the breadth level, and the range of the distance level, which reflects the range that the image collector can theoretically capture when it is not affected by the environment and is not blocked.

[0038] Specifically, a virtual scene can be built in the simulation software, and a three-dimensional scene in which the image collector is deployed in the scene can be generated according to the installation parameters of the image collector, that is, the deployment of the image collector in the scene can be simulated according to the installation position, installation height, installation angle and other parameters of the image collector. A global coordinate system can be established with any image collector as the coordinate origin, and two axes parallel to the ground plane and perpendicular to each other are used as the x-axis and y-axis, and the axis perpendicular to the ground plane is used as the z-axis. The equation of the boundary line of the field of view of the image collector can be determined according to the installation parameters and field of view of the image collector, that is, the equation of the four edges of the four-sided pyramid field of view with the image collector as the vertex. The four edges are intercepted according to the target visible distance to obtain a complete four-sided pyramid as the theoretical field of view of the image collector.

[0039] S120: Determine target capture parameters according to the height of the image collector and / or the height of the monitored object.

[0040] Exemplarily, the theoretical field of view of the image collector may intersect with the ground plane, and the ground plane blocks the theoretical field of view. In this case, the actual field of view only includes the part above the ground plane, which is smaller than the theoretical field of view. Similarly, the monitored object may be higher than the theoretical field of view of the image collector, or although the monitored object is within the theoretical field of view, the part above the highest point of the monitored object still cannot be collected by the image collector. In the scene of targeted image acquisition of the monitored object, the part above the highest point of the monitored object that cannot be collected by the image collector is still a blind spot of the field of view, so the actual field of view is smaller than the theoretical field of view. In this application, considering the influence of the ground plane and / or the height of the monitored object on the actual field of view, according to the height of the image collector and / or the height of the monitored object, the target interception parameter is determined to intercept the theoretical field of view. Among them, the height of the image collector is used to determine the distance of the ground plane relative to the image collector to determine the equation of the ground plane. The height of the monitored object is used to determine the distance of the lowest point and / or the highest point of the monitored object relative to the image collector to determine the height plane parallel to the ground plane where the lowest point and / or the highest point of the monitored object are located.

[0041] In an embodiment of the present application, the target capture parameters are determined according to the height of the image collector and / or the height of the monitored object, including:

[0042] Determine the ground plane according to the height of the image collector, and / or determine the height plane according to the height of the monitored object; wherein the height plane includes a lowest height plane parallel to the ground plane and having a height equal to the height of the lowest point of the monitored object, and / or a highest height plane parallel to the ground plane and having a height equal to the height of the highest point of the monitored object;

[0043] The ground plane and / or the height plane are used as target interception parameters.

[0044] In an embodiment of the present application, if a global coordinate system is established with any image collector in the scene as the origin, and the height of the image collector is h1, the ground plane is located below the xoy plane, and the coordinate is z=-h1, which is used as the target interception parameter. If the highest point and the lowest point of the monitored object are located on the ground, the highest point of the monitored object is located above the image collector, and the height of the monitored object is h2, then the highest height plane corresponding to the highest point of the monitored object is z=h2-h1, if the highest point of the monitored object is located below the image collector, and the height of the monitored object is h3, then the highest height plane corresponding to the highest point of the monitored object is z=h3-h1, which is used as the target interception parameter. Similarly, if the lowest point of the monitored object is located on the ground plane, the lowest height plane is the ground plane. The target interception parameter can also be determined based on the coordinates of other image collectors, the height of other image collectors relative to the ground plane, and / or the height of the monitored object relative to other image collectors.

[0045] S130: Determine the actual field of view of the image collector according to the theoretical field of view and the target capture parameter.

[0046] Exemplarily, the target interception parameters may affect the actual field of view of the image collector. For example, if the ground plane is determined to intersect with the theoretical field of view according to the target interception parameters, the theoretical field of view can be intercepted based on the target interception parameters to determine the actual field of view of the image collector. The target interception parameters may not affect the actual field of view of the image collector. For example, if the ground plane is determined to intersect with the theoretical field of view according to the target interception parameters, and the highest point of the monitored object is located at the highest point of the theoretical field of view, etc., then there is no need to intercept the theoretical field of view based on the target interception parameters, and the theoretical field of view can be directly used as the actual field of view. The above scheme can target the overall situation in the scene, fully consider the impact of the target visible distance of the image collector on the field of view, intercept the field of view with the target visible distance to obtain the theoretical field of view, comprehensively consider the impact of the ground plane and / or the height of the monitored object on the field of view, determine the target interception parameters according to the image collector height and / or the height of the monitored object that reflect the ground plane position, determine the actual field of view according to the target interception parameters and the theoretical field of view, thereby more accurately determining the actual field of view, and comprehensively evaluating the actual field of view and blind spot range of the global image collector in the scene, so as to facilitate the subsequent adjustment of the image collector parameters to reduce the blind spot range, and avoid the problem of mistakenly including the blind spot range in the actual field of view of the image collector, resulting in no image data in some areas.

[0047] In an embodiment of the present application, if the target interception parameter is the ground plane, determining the actual field of view range of the image collector according to the theoretical field of view range and the target interception parameter includes:

[0048] If the ground plane has no intersection with the theoretical field of view, the theoretical field of view is used as the actual field of view;

[0049] If there is an intersection between the ground plane and the theoretical field of view range, the portion of the theoretical field of view range that is above the ground plane is used as the actual field of view range.

[0050] In the embodiment of the present application, if the ground plane has no intersection with the theoretical field of view, such as Figure 2 As shown, the target visible distance of the image collector is less than the length extending from the boundary of the theoretical field of view to the horizon. The ground plane does not block the theoretical field of view, and the theoretical field of view can be directly used as the actual field of view. If the ground plane and the theoretical field of view have an intersection, such as Figure 3 As shown in , the part of the theoretical field of view that falls below the ground plane is actually the range that the image collector cannot capture, so the part of the theoretical field of view that is above the ground plane is taken as the actual field of view. Figure 4 As shown, O is the image collector, E, F, K, J are the intersection points of the ground plane and the four edges of the theoretical field of view, and the cone OEFKJ is the actual field of view.

[0051] In an embodiment of the present application, if the target interception parameter is the height plane, determining the actual field of view range of the image collector according to the theoretical field of view range and the target interception parameter includes:

[0052] The portion of the theoretical field of view that is above the lowest height plane and below the highest height plane is used as the actual field of view.

[0053] For example, if the monitored object is completely within the theoretical field of view, Figure 4 As shown, O is the image collector, and OABCD is the theoretical field of view. The lowest altitude plane EFKJ is higher than the lowest point of the theoretical field of view OABCD, and the highest altitude plane PQHG is lower than the highest point of the theoretical field of view OABCD. Then the part of the theoretical field of view that is above the lowest altitude plane and below the highest altitude plane, that is, the part between EFKJPQHG, is taken as the actual field of view. Figure 5 As shown, the pitch angle of the image collector is less than Figure 4The installation pitch angle in , at this time, the lowest height plane is located below the boundary AC of the theoretical field of view range OABCD, the lowest height plane EFNM is higher than the lowest point of the theoretical field of view range OABCD, and the highest height plane PQHG is lower than the highest point of the theoretical field of view range OABCD, then the part of the theoretical field of view range that is above the lowest height plane and below the highest height plane, that is, the part between EFNMPQHG, is taken as the actual field of view range.

[0054] For example, Figure 6 As shown, if the highest altitude plane and the theoretical field of view have an intersection, the lowest altitude plane is located below the lowest point of the theoretical field of view, and the intersection of the highest altitude plane and the theoretical field of view is PQHG, then the part of the theoretical field of view that is above the lowest altitude plane and below the highest altitude plane, that is, the part between ABCDPQHG, is taken as the actual field of view.

[0055] In an embodiment of the present application, if the target interception parameter is the ground plane and the height plane, determining the actual field of view range of the image collector according to the theoretical field of view range and the target interception parameter includes:

[0056] The portion of the theoretical field of view that is above the ground plane, above the lowest altitude plane, and below the highest altitude plane is taken as the actual field of view.

[0057] For example, the actual field of view range can also be determined by comprehensively considering the ground plane, the lowest height plane and the highest height plane of the monitored object. If the monitored object includes a portion below the ground plane, this portion cannot be captured by the image collector, so the portion above the ground plane, above the lowest height plane and below the highest height plane is used as the actual field of view range. If the lowest point of the monitored object is on the ground plane, the portion above the ground plane, above the lowest height plane and below the highest height plane is also used as the actual field of view range.

[0058] The technical solution of the embodiment of the present application determines the theoretical field of view range of the image collector according to the field of view angle, installation parameters and target visible distance of the image collector; determines the target interception parameters according to the height of the image collector and / or the height of the monitored object; and determines the actual field of view range of the image collector according to the theoretical field of view range and the target interception parameters. The above scheme can determine the theoretical field of view range that can be collected by the image collector according to the target visible distance and installation parameters, while determining the field of view range according to the field of view angle of the image collector. The target interception parameters are determined by comprehensively considering the height of the image collector and / or the height of the monitored object, and the theoretical field of view range is intercepted, taking into account the influence of the height of the ground plane and / or the monitored object on the actual field of view range of the image collector, so as to more accurately determine the actual field of view range of the image collector, and avoid the problem that the field of view blind area is still determined as a visible area, resulting in the inability to monitor some areas.

[0059] Embodiment 2

[0060] Figure 7 This is a flow chart of a method for determining the field of view range of an image collector provided in the second embodiment of the present application. The present embodiment is optimized based on the above embodiment. For solutions not described in detail in the present embodiment, please refer to the above embodiment. Figure 7 As shown, the method of the embodiment of the present application specifically includes the following steps:

[0061] S210: Determine a theoretical field of view range of the image collector according to the field of view angle, installation parameters, and target visible distance of the image collector.

[0062] S220: Determine target capture parameters according to the height of the image collector and / or the height of the monitored object.

[0063] S230: Determine the actual field of view of the image collector according to the theoretical field of view and the target capture parameter.

[0064] S240: Determine a blind area that does not fall within any actual field of view according to the actual field of view of the image collector within the preset range.

[0065] Exemplarily, the scheme of the above-mentioned embodiment can be executed for all image collectors within a preset range, the actual field of view range corresponding to each image collector can be determined, each actual field of view range can be spliced, and then the complement of the spliced ​​field of view range and the global area of ​​the preset range can be calculated, and the area in the global area except the spliced ​​field of view range is used as a blind spot range.

[0066] S250: Select a target image collector from image collectors within a preset range according to the actual field of view and the blind spot.

[0067] Exemplarily, since the image acquisition parameters of the image collector can be set, the target visible distance can also be adjusted when the image collector does not reach the farthest visible distance that the image collector can reach. The image acquisition parameters of some image collectors can be adjusted to expand the actual visible range and at least partially cover the blind area to completely eliminate the blind area. According to the actual field of view and the blind area, a target image collector that can expand the actual visible range and cover the blind area by adjusting the image acquisition parameters can be selected. For example, an image collector corresponding to the actual field of view that is closer to the blind area can be selected as the target image collector.

[0068] In an embodiment of the present application, selecting a target image collector from image collectors within a preset range according to the actual field of view range and the blind area range includes:

[0069] The actual field of view range of the image collectors within the preset range is traversed to determine the actual field of view range that has an intersection with the blind area range, and the image collector corresponding to the actual field of view range is used as the target image collector.

[0070] The blind spot range can be a continuous whole range within the preset range, or it can be at least two discontinuous ranges. Exemplarily, the actual field of view range of the image collector within the preset range is traversed to determine whether there is an intersection between the actual field of view range and the blind spot range. If there is an intersection between the actual field of view range and any part of the blind spot range, the image collector corresponding to the actual field of view range is used as the target image collector, so as to expand the actual field of view range of the target image collector by adjusting the image acquisition parameters of the target image collector to cover at least part of the blind spot range. The beneficial effect of the above scheme is that, since the current actual field of view range of the target image collector already has an intersection with the blind spot range, if the image acquisition parameters of the target image collector are adjusted to expand the field of view range, it is most likely that the adjusted actual field of view range will cover the blind spot range, so the image collector corresponding to the actual field of view range with an intersection with the blind spot range is used as the target image collector to achieve the effect of reducing or eliminating the blind spot range.

[0071] In an embodiment of the present application, determining an actual field of view range having an intersection with the blind area range, and using an image collector corresponding to the actual field of view range as a target image collector includes:

[0072] If there are at least two actual field of view ranges that have intersections with the blind area range, the farthest visible distance of the image collector corresponding to the at least two actual field of view ranges is compared with the farthest blind area distance of the blind area range;

[0073] If the farthest visible distance of the image collector is greater than or equal to the farthest blind area distance, and the difference between the farthest visible distance and the farthest blind area distance is the smallest, the image collector is used as the target image collector.

[0074] Exemplarily, for the same blind spot range, there may be at least two actual field of view ranges that have intersections with the blind spot range, and the target image collector can be adaptively selected from the image collectors corresponding to the at least two actual field of view ranges. Specifically, the farthest visible distance of the image collectors corresponding to the at least two actual field of view ranges is determined, and the farthest visible distance is compared with the farthest blind spot distance of the blind spot range. If the farthest visible distance is greater than or equal to the farthest blind spot distance, it means that from the perspective of distance, the field of view range of the target image collector may cover the blind spot range. If the farthest visible distance is less than the farthest blind spot distance, it means that from the perspective of distance, the field of view range of the target image collector cannot cover the blind spot range, and it is necessary to add other image collectors to collect images for the blind spot range. When selecting the target image collector, if there are at least two image collectors as candidates, in order to maximize the use of resources, the image collector whose actual field of view is enlarged after the image acquisition parameters are adjusted and whose part is not much different from the blind spot range can be selected as the target image collector, so as to cover the largest range of the blind spot range with the least target image collector. If the farthest visible distance of the image collector is greater than or equal to the farthest blind spot distance, and the difference with the farthest blind spot distance is the smallest, it means that the expanded part of the actual field of view determined by the farthest blind spot distance of the image collector is not much different from the blind spot range, and the image collector is used as the target image collector.

[0075] S260: Adjust the image acquisition parameters of the target image collector so that the actual field of view of the target image collector includes at least part of the blind area.

[0076] Exemplarily, the image acquisition parameters of the target image collector can be adjusted to expand the actual field of view of the target image collector so that the expanded actual field of view includes at least part of the blind area, thereby reducing the blind area and gradually eliminating the blind area.

[0077] It should be noted that the above process can be a cyclic execution process, that is, first select a target image collector, adjust the image acquisition parameters of the target image collector to eliminate at least part of the blind area, and then execute the S210-S260 scheme for the remaining blind area until the blind area is eliminated, so that the preset range is within the field of view of the image collector and can be monitored.

[0078] In the embodiment of the present application, the image acquisition parameters of the target image collector are adjusted so that the actual field of view of the target image collector includes at least part of the blind area, including:

[0079] Determine the farthest blind area distance of the blind area range, and use the farthest blind area distance as the new target visible distance of the target image collector; wherein the farthest visible distance of the target image collector is greater than or equal to the farthest blind area distance;

[0080] Determine a new field of view angle of the target image collector according to the new target visible distance and the size information of the target image collector;

[0081] According to the new field of view angle, new target visible distance and installation parameters of the target image collector, a new theoretical field of view range of the target image collector is determined, and the actual field of view range is updated according to the new theoretical field of view range and the target interception parameters.

[0082] Exemplarily, in order to make the actual field of view of the target image collector reach the farthest point of the blind area after the image acquisition parameters are adjusted, the farthest blind area distance of the blind area is used as the new target visible distance of the target image collector, and the new field of view angle of the target image collector is determined according to the new target visible distance and the size information of the target image collector. Specifically, the focal length Focus at the new target visible distance is Focus = D12 / (S*2), where D1 is the new target visible distance and S is the size of the image sensor. The horizontal field of view angle ∠A = 2*arctan (image sensor width / (2*F)), and the vertical field of view angle ∠B = 2*arctan (image sensor height / (2*F)). After determining the new field of view angle, repeat the contents of S210-S260 until the blind area is eliminated.

[0083] The embodiment of the present application provides a method for determining the field of view range of an image collector. After determining the actual field of view range of the image collector, determine the blind area range that does not fall within any actual field of view range based on the actual field of view range of the image collector within a preset range; select a target image collector from the image collectors within the preset range based on the actual field of view range and the blind area range; adjust the image acquisition parameters of the target image collector so that the actual field of view range of the target image collector includes at least part of the blind area range. The above scheme can accurately determine the blind area range within the preset range, and further expand the actual field of view range by adjusting the image acquisition parameters of the target image collector for the blind area range, thereby gradually eliminating the blind area range and solving the problem that the blind area range cannot be monitored.

[0084] Embodiment 3

[0085] Figure 8 This is a specific implementation flow chart of a method for determining the field of view range of an image collector provided in the third embodiment of the present application. The present embodiment of the present application is optimized based on the above embodiment. For solutions not described in detail in the present embodiment of the present application, please refer to the above embodiment. Figure 8 As shown, the method of the embodiment of the present application specifically includes the following steps:

[0086] S310: Build a virtual scene according to the actual scene, deploy the image collector in the virtual scene according to the pre-designed installation parameters of the image collector, and generate a three-dimensional simulated monitoring scene.

[0087] S320, generating a theoretical field of view range according to the camera's horizontal installation angle, vertical installation angle, installation height, horizontal field of view angle, vertical field of view angle, and target visible distance.

[0088] S330: Determine target capture parameters according to the installation height of the image collector and / or the height of the monitored object, and determine the actual field of view range according to the target capture parameters and the theoretical field of view range.

[0089] S340, according to the preset range and the actual field of view range of the image collector within the global range, determine whether there is a blind area range. If not, end. If yes, execute S350.

[0090] S350, selecting a target image collector according to the blind area range and the actual field of view range, and determining whether the actual field of view range after adjusting the image acquisition parameters of the target image collector can cover the blind area range according to the farthest field of view distance of the target image collector and the farthest distance of the blind area range. If not, executing S360. If yes, executing S370.

[0091] S360, prompting the user to add an image collector so that the actual field of view covers the blind area.

[0092] S370: If yes, adjust the image acquisition parameters of the target image collector, calculate a new field of view angle and execute S320.

[0093] The specific implementation of the method for determining the field of view range of the image collector provided in the embodiment of the present application has the same beneficial effects as any of the above embodiments.

[0094] Embodiment 4

[0095] Fig. 9 This is a schematic diagram of the structure of a device for determining the field of view range of an image collector provided in the fourth embodiment of the present application. The device can execute the method for determining the field of view range of an image collector provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method. Fig. 9 As shown, the device comprises:

[0096] Theoretical field of view range determination module 410, used to determine the theoretical field of view range of the image collector according to the field of view angle, installation parameters and target visible distance of the image collector;

[0097] A target interception parameter determination module 420, configured to determine a target interception parameter according to the height of the image collector and / or the height of the monitored object;

[0098] The actual field of view range determination module 430 is used to determine the actual field of view range of the image collector according to the theoretical field of view range and the target interception parameter.

[0099] In the embodiment of the present application, the target interception parameter determination module 420 includes:

[0100] A height plane determining unit, used to determine a ground plane according to the height of the image collector, and / or to determine a height plane according to the height of the monitored object; wherein the height plane includes a lowest height plane parallel to the ground plane and having a height equal to the height of the lowest point of the monitored object, and / or a highest height plane parallel to the ground plane and having a height equal to the height of the highest point of the monitored object;

[0101] The target interception parameter determination unit is used to use the ground plane and / or the altitude plane as the target interception parameter.

[0102] In the embodiment of the present application, if the target interception parameter is the ground plane, the actual field of view range determination module 430 includes:

[0103] A first determining unit, configured to use the theoretical field of view range as the actual field of view range if the ground plane has no intersection with the theoretical field of view range;

[0104] The second determining unit is configured to use a portion of the theoretical field of view that is above the ground plane as the actual field of view if there is an intersection between the ground plane and the theoretical field of view.

[0105] In the embodiment of the present application, if the target interception parameter is the height plane, the actual field of view range determination module 430 includes:

[0106] The third determining unit is used to take the portion of the theoretical field of view that is above the lowest height plane and below the highest height plane as the actual field of view.

[0107] In the embodiment of the present application, if the target interception parameters are the ground plane and the height plane, the actual field of view range determination module 430 includes:

[0108] The fourth determining unit is used to take the portion of the theoretical field of view that is above the ground plane, above the lowest altitude plane, and below the highest altitude plane as the actual field of view.

[0109] In the embodiment of the present application, the device further includes:

[0110] A blind area range determination module, used to determine the blind area range that does not fall within any actual field of view range according to the actual field of view range of the image collector within the preset range;

[0111] A selection module, used for selecting a target image collector from image collectors within a preset range according to the actual field of view range and the blind area range;

[0112] The adjustment module is used to adjust the image acquisition parameters of the target image collector so that the actual field of view of the target image collector includes at least part of the blind area.

[0113] In the embodiment of the present application, the adjustment module includes:

[0114] A new target visible distance determination unit is used to determine the farthest blind area distance of the blind area range, and use the farthest blind area distance as the new target visible distance of the target image collector; wherein the farthest visible distance of the target image collector is greater than or equal to the farthest blind area distance;

[0115] A new field of view angle determination unit, used to determine a new field of view angle of the target image collector according to a new target visible distance and size information of the target image collector;

[0116] The updating unit is used to determine a new theoretical field of view range of the target image collector according to a new field of view angle, a new target visible distance and installation parameters of the target image collector, and to update the actual field of view range according to the new theoretical field of view range and the target interception parameters.

[0117] In the embodiment of the present application, the selection module includes:

[0118] The traversal unit is used to traverse the actual field of view range of the image collector within the preset range, determine the actual field of view range that has an intersection with the blind area range, and use the image collector corresponding to the actual field of view range as the target image collector.

[0119] In the embodiment of the present application, the traversal unit includes:

[0120] A comparison subunit, for comparing the farthest visible distance of the image collector corresponding to at least two actual field of view ranges with the farthest blind zone distance of the blind zone range if there are at least two actual field of view ranges having intersection points with the blind zone range;

[0121] The target image collector determination subunit is used to take the image collector as the target image collector if the farthest visible distance of the image collector is greater than or equal to the farthest blind area distance and the difference with the farthest blind area distance is the smallest.

[0122] A field of view range determination device for an image collector provided in an embodiment of the present application can execute a field of view range determination method for an image collector provided in any embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method.

[0123] Embodiment 5

[0124] Fig.10 A schematic diagram of an electronic device 10 that can be used to implement an embodiment of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0125] like Fig.10 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0126] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0127] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for determining the field of view range of an image collector.

[0128] In some embodiments, the method for determining the field of view range of the image collector can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for determining the field of view range of the image collector described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for determining the field of view range of the image collector in any other appropriate manner (for example, by means of firmware).

[0129] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0130] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable image acquisition device for determining the field of view range, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0131] In the context of the present application, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device or equipment. A computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. A more specific example of a machine readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0132] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0133] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0134] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0135] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the information expected by the technical solution of this application can be achieved, and this document is not limited here.

[0136] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A method for determining the field of view range of an image collector, characterized in that: The method comprises: Determine the theoretical field of view range of the image collector according to the field of view angle, installation parameters and target visual distance of the image collector; Determining target interception parameters according to the height of the image collector and / or the height of the monitored object; The actual field of view of the image collector is determined according to the theoretical field of view and the target capture parameters.

2. The method according to claim 1, characterized in that Determining target interception parameters according to the height of the image collector and / or the height of the monitored object includes: Determine the ground plane according to the height of the image collector, and / or determine the height plane according to the height of the monitored object; wherein the height plane includes a lowest height plane parallel to the ground plane and having a height equal to the height of the lowest point of the monitored object, and / or a highest height plane parallel to the ground plane and having a height equal to the height of the highest point of the monitored object; The ground plane and / or the height plane are used as target interception parameters.

3. The method according to claim 2, characterized in that If the target interception parameter is the ground plane, determining the actual field of view range of the image collector according to the theoretical field of view range and the target interception parameter includes: If the ground plane has no intersection with the theoretical field of view, the theoretical field of view is used as the actual field of view; If there is an intersection between the ground plane and the theoretical field of view range, the portion of the theoretical field of view range that is above the ground plane is used as the actual field of view range.

4. The method according to claim 2, characterized in that: If the target interception parameter is the height plane, determining the actual field of view range of the image collector according to the theoretical field of view range and the target interception parameter includes: The portion of the theoretical field of view that is above the lowest height plane and below the highest height plane is used as the actual field of view.

5. The method according to claim 2, characterized in that: If the target interception parameter is the ground plane and the height plane, determining the actual field of view range of the image collector according to the theoretical field of view range and the target interception parameter includes: The portion of the theoretical field of view that is above the ground plane, above the lowest altitude plane, and below the highest altitude plane is taken as the actual field of view.

6. The method according to claim 1, characterized in that After determining the actual field of view of the image collector, the method further includes: According to the actual field of view of the image collector within the preset range, determine the blind area that does not fall within any actual field of view; Selecting a target image collector from image collectors within a preset range according to the actual field of view and the blind area; The image acquisition parameters of the target image collector are adjusted so that the actual field of view of the target image collector includes at least a part of the blind area.

7. The method according to claim 6, characterized in that Adjusting the image acquisition parameters of the target image collector so that the actual field of view of the target image collector includes at least a portion of the blind area, including: Determine the farthest blind area distance of the blind area range, and use the farthest blind area distance as the new target visible distance of the target image collector; wherein the farthest visible distance of the target image collector is greater than or equal to the farthest blind area distance; Determine a new field of view angle of the target image collector according to the new target visible distance and the size information of the target image collector; According to the new field of view angle, new target visible distance and installation parameters of the target image collector, a new theoretical field of view range of the target image collector is determined, and the actual field of view range is updated according to the new theoretical field of view range and the target interception parameters.

8. The method according to claim 6, characterized in that Selecting a target image collector from image collectors within a preset range according to the actual field of view range and the blind area range includes: The actual field of view range of the image collectors within the preset range is traversed to determine the actual field of view range that has an intersection with the blind area range, and the image collector corresponding to the actual field of view range is used as the target image collector.

9. The method according to claim 8, characterized in that Determining an actual field of view having an intersection with the blind area, and using an image collector corresponding to the actual field of view as a target image collector, including: If there are at least two actual field of view ranges that have intersections with the blind area range, the farthest visible distance of the image collector corresponding to the at least two actual field of view ranges is compared with the farthest blind area distance of the blind area range; If the farthest visible distance of the image collector is greater than or equal to the farthest blind area distance, and the difference between the farthest visible distance and the farthest blind area distance is the smallest, the image collector is used as the target image collector.

10. A device for determining the field of view range of an image collector, characterized in that: The device comprises: A module for determining the theoretical field of view range, for determining the theoretical field of view range of the image collector according to the field of view angle, installation parameters and target visible distance of the image collector; A target interception parameter determination module, used to determine the target interception parameter according to the height of the image collector and / or the height of the monitored object; The actual field of view range determination module is used to determine the actual field of view range of the image collector according to the theoretical field of view range and the target interception parameter.

11. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the field of view range of the image collector according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the field of view range of an image collector according to any one of claims 1 to 9 when executed.

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