Target association method and device for double-station cooperative video monitoring station

Abstract

The invention relates to the technical field of video monitoring, in particular to a double-station collaborative video monitoring station target association method and a double-station collaborative video monitoring station target association device. The method comprises the following steps: continuously tracking a target by using a master monitoring station, continuously searching the target in a working angular domain of the slave monitoring station according to a preset standard by using the slave monitoring station, tracking the target by using the slave monitoring station when the target is searched by using the slave monitoring station, and acquiring the target by using the master monitoring station and the slave monitoring station at each acquisition time when the target is tracked by using the master monitoring station and the slave monitoring station. The target position at the acquisition time is calculated according to the rotary table pointing angle of the master monitoring station and the rotary table pointing angle of the slave monitoring station; calculating an angular velocity estimation value according to the target position at different acquisition times; according to the rotary table pointing angle of the monitoring station, an angular velocity measurement value is obtained through calculation; the angular velocity estimate and the angular velocity measurement are compared to verify whether the target tracked by the slave monitoring station is the same as the target tracked by the master monitoring station. According to the scheme provided by the invention, a plurality of monitoring stations can quickly and accurately position the same target.

Description

Technical Field

[0001] The present invention relates to the field of video monitoring technology, and in particular to a method and device for associating targets of dual-station coordinated video monitoring stations. Background Art

[0002] The video monitoring station (hereinafter referred to as the monitoring station) consists of a turntable, an optical detector, and a signal processor. The turntable can rotate horizontally to change the direction of the optical detector. The optical detector can generally observe at a certain frame rate to obtain the optical image of the target. The signal processor is used to calculate and store relevant information. The monitoring station generally has a search mode and a tracking mode. Each monitoring station has a certain observation angle range. In the search mode, the monitoring station can search for the target within the observation angle range; in the tracking mode, the monitoring station can automatically control the rotation of the turntable so that the optical detector always follows the target and continuously obtains the image of the target. When a single monitoring station observes a target, it can only obtain the image and angle measurement information of the target, but cannot obtain more meaningful target position, speed, etc. With the systematic construction of the monitoring system, the monitoring stations are more densely distributed, and the observation angle range of each monitoring station has a certain overlap area, which provides a hardware foundation for the coordinated work of two or more monitoring station systems, and can realize the associated observation of two or more monitoring stations, that is, observing the same target at the same time, so as to obtain more position and motion information of the target, which is convenient for tracking, measuring and handling the target. However, there may be multiple targets in the field of view of each monitoring station, and the monitoring station can only obtain the turntable pointing information. How to estimate the position of the target through limited angle information and distinguish multiple targets that may appear in the field of view requires the design of a dual-station collaborative video monitoring station target association method. Summary of the invention

[0003] The embodiments of the present invention provide a dual-station collaborative video surveillance station target association method, device, electronic device and storage medium, which can enable multiple monitoring stations to quickly and accurately locate the same target and obtain more position and motion information of the target.

[0004] In a first aspect, an embodiment of the present invention provides a dual-station collaborative video surveillance station target association method, comprising: The target is continuously tracked by the main monitoring station so that the turntable of the main monitoring station continuously points to the target; wherein the main monitoring station collects a plurality of first target images at a preset frame rate during the continuous tracking process, and each frame of the first target image collected is marked with the current collection time and the current pointing angle of the turntable of the main monitoring station; The slave monitoring station continuously searches for the target in its working angle range according to a preset standard. When the slave monitoring station searches for the target, the slave monitoring station tracks the target and collects a plurality of second target images according to a preset frame rate during the continuous tracking process; wherein each frame of the second target image collected is marked with the current collection time and the current pointing angle of the turntable of the slave monitoring station; When the master monitoring station and the slave monitoring station are both tracking the target, it is assumed that the targets tracked by the master monitoring station and the slave monitoring station are the same target, and the following steps are performed: at each acquisition time, the target position at the acquisition time is calculated according to the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station; Calculating an estimated value of the angular velocity of the target relative to the slave monitoring station according to the target position at different acquisition times; Calculate the angular velocity measurement value of the target relative to the slave monitoring station according to the acquisition time of the plurality of second target image markers and the turntable pointing angle of the slave monitoring station; The angular velocity estimation value is compared with the angular velocity measurement value to verify whether the target tracked by the slave monitoring station is the same as the target tracked by the master monitoring station.

[0005] In a possible design, when the slave monitoring station searches for a target, after the slave monitoring station tracks the target, the method further includes: After the slave monitoring station tracks the target for a preset time, the tracking is stopped, and the step of continuously searching for the target within its working angle range according to the preset standard by using the slave monitoring station is re-executed.

[0006] In a possible design, in the process of tracking the target from the monitoring station, the method further includes: During the tracking process from the monitoring station, continuously searching the second target image for a new target that meets the preset criteria; When a new target is found, it is tracked.

[0007] In a possible design, at each acquisition time, the target position at the acquisition time is calculated according to the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station, including: Calculating the interval distance between the master monitoring station and the slave monitoring station; The target position of the target relative to the main monitoring station is calculated according to the interval distance, the turntable pointing angle of the main monitoring station and the turntable pointing angle of the slave monitoring station.

[0008] In a possible design, calculating the estimated angular velocity of the target relative to the slave monitoring station according to the target position at different acquisition times includes: Arrange the target positions calculated at different acquisition times in chronological order to obtain a position sequence; Calculating the linear velocity of the target according to the preset frame rate and the position sequence; An estimated value of the angular velocity of the target relative to the slave monitoring station is calculated based on the linear velocity and the position sequence.

[0009] In a possible design, the step of calculating the angular velocity measurement value of the target relative to the slave monitoring station according to the acquisition time of the plurality of second target image markers and the turntable pointing angle of the slave monitoring station includes: Arrange the turntable pointing angles of the slave monitoring station marked by the plurality of second target images in chronological order to obtain an angle sequence; The angular velocity measurement value of the target relative to the slave monitoring station is calculated according to the angle sequence and the preset frame rate.

[0010] In one possible design, comparing the angular velocity estimation value and the angular velocity measurement value to verify whether the target tracked by the slave monitoring station is the same as the target tracked by the master monitoring station includes: Comparing the angular velocity measurement value with the angular velocity estimation value to obtain a relative error; The relative error is compared with a preset error value. If the relative error is smaller than the preset error value, the relative error value is compared with a minimum error value. If the relative error value is smaller than the minimum error value, the target tracked by the slave monitoring station is the same target as that of the master monitoring station, and the relative error value is marked as a new minimum error value.

[0011] In a second aspect, an embodiment of the present invention further provides a dual-station collaborative video surveillance station target association device, used to implement any of the above methods, the device comprising: The first unit is used to continuously track the target using the main monitoring station so that the turntable of the main monitoring station continuously points to the target; wherein the main monitoring station collects a plurality of first target images according to a preset frame rate during the continuous tracking process, and each frame of the first target image collected is marked with a current collection time and a current pointing angle of the turntable of the main monitoring station; The second unit is used to continuously search for a target in its working angle range according to a preset standard using a slave monitoring station. When the slave monitoring station searches for a target, the slave monitoring station tracks the target and collects a plurality of second target images according to a preset frame rate during the continuous tracking process; wherein each frame of the collected second target image is marked with a current collection time and a current pointing angle of the turntable of the slave monitoring station; The third unit is used for, when both the master monitoring station and the slave monitoring station are tracking the target, assuming that the targets tracked by the master monitoring station and the slave monitoring station are the same target, and executing: at each acquisition time, calculating the target position at the acquisition time according to the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station; A fourth unit is used to calculate an estimated value of the angular velocity of the target relative to the slave monitoring station according to the target position at different acquisition times; A fifth unit, configured to calculate an angular velocity measurement value of the target relative to the slave monitoring station according to the acquisition time of the plurality of second target image markers and the turntable pointing angle of the slave monitoring station; The sixth unit is used to compare the angular velocity estimation value with the angular velocity measurement value to verify whether the target tracked by the slave monitoring station is the same as the target tracked by the master monitoring station.

[0012] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0013] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute the method described in any embodiment of this specification.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects: In this embodiment, the main monitoring station continuously tracks and monitors a target, and continuously obtains first image information about the target at a preset frame rate during the tracking and monitoring process. The slave monitoring station continuously searches for targets in its working angle area, and when a target matching the preset standard is found, the target is tracked, and second image information about the target is also obtained at a preset frame rate during the tracking process. When the main monitoring station and the slave monitoring station at different angles simultaneously track a target, more position and motion information of the target can be calculated based on their respective turntable angles, which facilitates the tracking, measurement and disposal of the target. However, the target searched by the slave monitoring station according to the preset standard information may be erroneous. In addition, the slave monitoring station may search and track multiple different targets in its working angle area according to the preset standard. Therefore, in order to screen out the correct target, the tracked target needs to be verified after the slave monitoring station tracks the target. Specifically, it is first assumed that the target tracked by the master monitoring station and the slave monitoring station is the same target, and calculations are performed under this premise. The target position at the acquisition time is first calculated according to the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station; after the target position is obtained, the estimated angular velocity of the target relative to the slave monitoring station can be calculated according to the target position at different acquisition times; then, the angular velocity measurement value of the target relative to the slave monitoring station is calculated according to the acquisition time of multiple second target image markers and the turntable pointing angle of the slave monitoring station; the angular velocity measurement value is the actual value measured by the slave monitoring station for the moving target it is tracking, and the angular velocity estimation value is calculated under the assumption that the master monitoring station and the slave monitoring station are tracking the same target. If the actual angular velocity of the target (angular velocity measurement value) and the assumed calculated value (angular velocity estimation value) are close to or the same, it proves that the master monitoring station and the slave monitoring station are tracking the same target. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is a flow chart of a method for associating a target of a video monitoring station with dual-station collaboration provided by an embodiment of the present invention; Figure 2 is a hardware architecture diagram of an electronic device provided by an embodiment of the present invention; Figure 3 It is a structural diagram of a dual-station collaborative video monitoring station target association device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] The specific implementation of the above concept is described below.

[0019] Please refer to Figure 1 The embodiment of the present invention provides a dual-station collaborative video surveillance station target association method, comprising: The target is continuously tracked by the main monitoring station so that the turntable of the main monitoring station continuously points to the target; wherein the main monitoring station collects a plurality of first target images according to a preset frame rate during the continuous tracking process, and each frame of the collected first target image is marked with the current collection time and the current pointing angle of the turntable of the main monitoring station; The slave monitoring station continuously searches for the target in its working angle range according to preset standards. When the slave monitoring station searches for the target, the slave monitoring station tracks the target and collects multiple second target images according to a preset frame rate during the continuous tracking process; wherein each frame of the collected second target image is marked with the current collection time and the current turntable pointing angle of the slave monitoring station; When both the master monitoring station and the slave monitoring station are tracking a target, it is assumed that the target tracked by the master monitoring station and the slave monitoring station is the same target, and the following are performed: at each acquisition time, the target position at the acquisition time is calculated according to the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station; The estimated angular velocity of the target relative to the slave monitoring station is calculated based on the target position at different acquisition times; Calculating an angular velocity measurement value of the target relative to the slave monitoring station based on the acquisition time of the plurality of second target image markers and the turntable pointing angle of the slave monitoring station; The angular velocity estimates are compared to the angular velocity measurements to verify that the target being tracked by the slave station is the same target as that being tracked by the master station.

[0020] In this embodiment, the main monitoring station continuously tracks and monitors a target, and continuously obtains first image information about the target at a preset frame rate during the tracking and monitoring process. The slave monitoring station continuously searches for targets in its working angle area, and when a target matching the preset standard is found, the target is tracked, and second image information about the target is also obtained at a preset frame rate during the tracking process. When the main monitoring station and the slave monitoring station at different angles simultaneously track a target, more position and motion information of the target can be calculated based on their respective turntable angles, which facilitates the tracking, measurement and disposal of the target. However, the target searched by the slave monitoring station according to the preset standard information may be erroneous. In addition, the slave monitoring station may search and track multiple different targets in its working angle area according to the preset standard. Therefore, in order to screen out the correct target, the tracked target needs to be verified after the slave monitoring station tracks the target. Specifically, it is first assumed that the target tracked by the master monitoring station and the slave monitoring station is the same target, and calculations are performed under this premise. The target position at the acquisition time is first calculated according to the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station; after the target position is obtained, the estimated angular velocity of the target relative to the slave monitoring station can be calculated according to the target position at different acquisition times; then, the angular velocity measurement value of the target relative to the slave monitoring station is calculated according to the acquisition time of multiple second target image markers and the turntable pointing angle of the slave monitoring station; the angular velocity measurement value is the actual value measured by the slave monitoring station for the moving target it is tracking, and the angular velocity estimation value is calculated under the assumption that the master monitoring station and the slave monitoring station are tracking the same target. If the actual angular velocity of the target (angular velocity measurement value) and the assumed calculated value (angular velocity estimation value) are close to or the same, it proves that the master monitoring station and the slave monitoring station are tracking the same target.

[0021] In some embodiments of the present invention, when a target is searched from a monitoring station, after the target is tracked from the monitoring station, the method further includes: After the slave monitoring station tracks the target for a preset time, the tracking is stopped and the step of continuously searching for the target according to the preset criteria within the working angle area of ​​the slave monitoring station is re-executed.

[0022] In this embodiment, a short tracking from the monitoring station can verify whether the tracking target is correct. Therefore, in order to increase efficiency, after tracking from the monitoring station for a preset time, other possible targets can be searched. It should be noted that even if it is verified that the angular velocity estimation value and the angular velocity measurement value are very close, the target may be the correct target, and the search should be continued after the preset tracking time, because the target may be temporarily close to the correct target position, and there is a possibility that it is not the correct target. Therefore, it is necessary to continuously search and verify to find a target whose angular velocity estimation value and angular velocity measurement value are closer and more correct.

[0023] In some embodiments of the present invention, the process of tracking the target from the monitoring station further includes: During the tracking process from the monitoring station, continuously searching for new targets meeting the preset criteria in the second target image; When a new target is found, it is tracked.

[0024] In this embodiment, during the tracking process from the monitoring station, the target meeting the preset standard can be continuously searched in the second target image. If a new target is found, the current target can be immediately verified while the new target is tracked.

[0025] In some embodiments of the present invention, at each acquisition time, the target position at the acquisition time is calculated according to the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station, including: Calculate the separation distance between the master monitoring station and the slave monitoring station; The target position relative to the main monitoring station is calculated based on the interval distance, the turntable pointing angle of the main monitoring station and the turntable pointing angle of the slave monitoring station.

[0026] Specifically, a coordinate system is established with the main monitoring station as the origin, the east as the positive direction of the X axis, and the north as the positive direction of the Y axis. The coordinates of the main monitoring station are (0,0), and the coordinates of the slave monitoring station can be regarded as known quantities, set as (x B ,y B ), the calculated interval distance L between the two monitoring stations is The angle α of the line L connecting the main monitoring station and the slave monitoring station deviating from the X-axis is If the target is observed at the same time, the angle information of the main monitoring station turntable is and the turntable angle information from the monitoring station is , then the distance between the target and the origin is obtained for: Then the target position coordinates (xi, yi) are obtained as: In some embodiments of the present invention, calculating an estimated value of the angular velocity of the target relative to the slave monitoring station according to the target position at different acquisition times includes: Arrange the target positions calculated at different acquisition times in chronological order to obtain a position sequence; According to the preset frame rate and position sequence, the linear velocity of the target is calculated; Based on the linear velocity and position sequence, the estimated angular velocity of the target relative to the slave monitoring station is calculated.

[0027] Specifically, the target position sequence is recorded as (x1, y1), (x2, y2)... (x N ,y N ) There are N groups in total. If the preset frame rate of the image is f , then the component velocities of the target linear velocity in the X and Y directions can be calculated as: If N is an even number, , If N is an odd number, ,

[0028] Further calculations yield an estimated value of the target's angular velocity relative to the slave monitoring station: If N is an even number, If N is an odd number,

[0029] In some embodiments of the present invention, calculating the angular velocity measurement value of the target relative to the slave monitoring station according to the acquisition time of the plurality of second target image markers and the turntable pointing angle of the slave monitoring station includes: Arrange the turntable pointing angles from the monitoring station marked by the plurality of second target images in time order to obtain an angle sequence; The angular velocity measurement value of the target relative to the slave monitoring station is calculated based on the angle sequence and the preset frame rate.

[0030] Specifically, the turntable angle sequence of the target tracked from the monitoring station in a short period of time is recorded as θ B1 , θ B2 ,……θ BN , a total of N, the preset frame rate is f , then the angular velocity measurement of the target relative to the slave monitoring station can be processed as: If N is an even number, If N is an odd number, ,

[0031] In some embodiments of the present invention, comparing the angular velocity estimation value and the angular velocity measurement value to verify whether the target tracked by the slave monitoring station is the same as the target tracked by the master monitoring station includes: Compare the angular velocity measurement value with the angular velocity estimation value to obtain the relative error; The relative error is compared with the preset error value. If the relative error is less than the preset error value, the relative error value is compared with the minimum error value. If the relative error value is less than the minimum error value, the target tracked by the slave monitoring station is the same target as that of the master monitoring station, and the relative error value is marked as the new minimum error value.

[0032] The relative error is calculated as follows: Where ∆ω is the relative error.

[0033] In this embodiment, the preset error value may be 0.1-0.5.

[0034] like Figure 2 , Figure 3 As shown, the embodiment of the present invention provides a dual-station collaborative video surveillance station target association device. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, such as Figure 2 As shown, it is a hardware architecture diagram of an electronic device where a dual-station collaborative video monitoring station target association device is located according to an embodiment of the present invention. Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 3 As shown, as a device in a logical sense, the CPU of the electronic device in which it is located reads the corresponding computer program in the non-volatile memory into the memory and runs it. This embodiment provides a dual-station collaborative video monitoring station target association device, including: The first unit is used to continuously track the target using the main monitoring station so that the turntable of the main monitoring station continuously points to the target; wherein the main monitoring station collects a plurality of first target images according to a preset frame rate during the continuous tracking process, and each frame of the first target image collected is marked with a current collection time and a current pointing angle of the turntable of the main monitoring station; The second unit is used to continuously search for a target in its working angle range according to a preset standard using a slave monitoring station. When the slave monitoring station searches for a target, the slave monitoring station tracks the target and collects a plurality of second target images according to a preset frame rate during the continuous tracking process; wherein each frame of the collected second target image is marked with a current collection time and a current pointing angle of the turntable of the slave monitoring station; The third unit is used for, when both the master monitoring station and the slave monitoring station are tracking the target, assuming that the targets tracked by the master monitoring station and the slave monitoring station are the same target, and executing: at each acquisition time, calculating the target position at the acquisition time according to the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station; A fourth unit is used to calculate an estimated value of the angular velocity of the target relative to the slave monitoring station according to the target position at different acquisition times; A fifth unit, configured to calculate an angular velocity measurement value of the target relative to the slave monitoring station according to the acquisition time of the plurality of second target image markers and the turntable pointing angle of the slave monitoring station; The sixth unit is used to compare the angular velocity estimation value with the angular velocity measurement value to verify whether the target tracked by the slave monitoring station is the same as the target tracked by the master monitoring station.

[0035] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a dual-station collaborative video surveillance station target association device. In other embodiments of the present invention, a dual-station collaborative video surveillance station target association device may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0036] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0037] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a dual-station collaborative video surveillance station target association method in any embodiment of the present invention is implemented.

[0038] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a dual-station collaborative video surveillance station target association method in any embodiment of the present invention.

[0039] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0040] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0041] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0042] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0043] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0044] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0045] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-station collaborative video surveillance station target association method, characterized in that: include: The target is continuously tracked by the main monitoring station so that the turntable of the main monitoring station continuously points to the target; wherein the main monitoring station collects a plurality of first target images at a preset frame rate during the continuous tracking process, and each frame of the first target image collected is marked with the current collection time and the current pointing angle of the turntable of the main monitoring station; The slave monitoring station continuously searches for the target in its working angle range according to a preset standard. When the slave monitoring station searches for the target, the slave monitoring station tracks the target and collects a plurality of second target images according to a preset frame rate during the continuous tracking process; wherein each frame of the second target image collected is marked with the current collection time and the current pointing angle of the turntable of the slave monitoring station; When the master monitoring station and the slave monitoring station are both tracking the target, it is assumed that the targets tracked by the master monitoring station and the slave monitoring station are the same target, and the following steps are performed: at each acquisition time, the target position at the acquisition time is calculated according to the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station; Calculating an estimated value of the angular velocity of the target relative to the slave monitoring station according to the target position at different acquisition times; Calculate the angular velocity measurement value of the target relative to the slave monitoring station according to the acquisition time of the plurality of second target image markers and the turntable pointing angle of the slave monitoring station; The angular velocity estimation value is compared with the angular velocity measurement value to verify whether the target tracked by the slave monitoring station is the same as the target tracked by the master monitoring station.

2. The association method according to claim 1, characterized in that: When the slave monitoring station searches for a target, after the slave monitoring station tracks the target, the method further includes: After the slave monitoring station tracks the target for a preset time, the tracking is stopped, and the step of continuously searching for the target within its working angle range according to the preset standard by using the slave monitoring station is re-executed.

3. The association method according to claim 1, characterized in that: In the process of tracking the target from the monitoring station, the following steps are also included: During the tracking process from the monitoring station, continuously searching the second target image for a new target that meets the preset criteria; When a new target is found, it is tracked.

4. The association method according to claim 1, characterized in that: At each acquisition time, the target position at the acquisition time is calculated according to the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station, including: Calculating the interval distance between the master monitoring station and the slave monitoring station; The target position of the target relative to the main monitoring station is calculated according to the interval distance, the turntable pointing angle of the main monitoring station and the turntable pointing angle of the slave monitoring station.

5. The association method according to claim 1, characterized in that: The step of calculating the estimated angular velocity of the target relative to the slave monitoring station according to the target position at different acquisition times includes: Arrange the target positions calculated at different acquisition times in chronological order to obtain a position sequence; Calculating the linear velocity of the target according to the preset frame rate and the position sequence; An estimated value of the angular velocity of the target relative to the slave monitoring station is calculated based on the linear velocity and the position sequence.

6. The association method according to claim 1, characterized in that: The step of calculating the angular velocity measurement value of the target relative to the slave monitoring station according to the acquisition time of the plurality of second target image markers and the turntable pointing angle of the slave monitoring station comprises: Arrange the turntable pointing angles of the slave monitoring station marked by the plurality of second target images in chronological order to obtain an angle sequence; The angular velocity measurement value of the target relative to the slave monitoring station is calculated according to the angle sequence and the preset frame rate.

7. The association method according to claim 1, characterized in that: The comparing the angular velocity estimation value and the angular velocity measurement value to verify whether the target tracked by the slave monitoring station is the same as the target tracked by the master monitoring station includes: Comparing the angular velocity measurement value with the angular velocity estimation value to obtain a relative error; The relative error is compared with a preset error value. If the relative error is smaller than the preset error value, the relative error value is compared with a minimum error value. If the relative error value is smaller than the minimum error value, the target tracked by the slave monitoring station is the same target as that of the master monitoring station, and the relative error value is marked as a new minimum error value.

8. A dual-station coordinated video surveillance station target association device, characterized in that: For implementing the method according to any one of claims 1 to 7, the device comprises: The first unit is used to continuously track the target using the main monitoring station so that the turntable of the main monitoring station continuously points to the target; wherein the main monitoring station collects a plurality of first target images according to a preset frame rate during the continuous tracking process, and each frame of the first target image collected is marked with a current collection time and a current pointing angle of the turntable of the main monitoring station; The second unit is used to continuously search for a target in its working angle range according to a preset standard using a slave monitoring station. When the slave monitoring station searches for a target, the slave monitoring station tracks the target and collects a plurality of second target images according to a preset frame rate during the continuous tracking process; wherein each frame of the collected second target image is marked with a current collection time and a current pointing angle of the turntable of the slave monitoring station; The third unit is used for, when both the master monitoring station and the slave monitoring station are tracking the target, assuming that the targets tracked by the master monitoring station and the slave monitoring station are the same target, and executing: at each acquisition time, calculating the target position at the acquisition time according to the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station; A fourth unit is used to calculate an estimated value of the angular velocity of the target relative to the slave monitoring station according to the target position at different acquisition times; A fifth unit, configured to calculate an angular velocity measurement value of the target relative to the slave monitoring station according to the acquisition time of the plurality of second target image markers and the turntable pointing angle of the slave monitoring station; The sixth unit is used to compare the angular velocity estimation value with the angular velocity measurement value to verify whether the target tracked by the slave monitoring station is the same as the target tracked by the master monitoring station.

9. An electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 7.

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