A method and device for associating target of dual-station collaborative video surveillance stations

Abstract

The present invention relates to the field of video surveillance technology, and in particular to a method and device for associating targets of dual-station collaborative video surveillance stations. The method comprises: using a master monitoring station to continuously track a target, using a slave monitoring station to continuously search for a target within its working angle range according to a preset standard, and when the slave monitoring station searches for a target, the slave monitoring station tracks the target, and when both the master monitoring station and the slave monitoring station are tracking the target, at each acquisition time, the target position at that acquisition time is calculated based on the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station; an angular velocity estimate is calculated based on the target position at different acquisition times; an angular velocity measurement value is calculated based on the turntable pointing angle of the slave monitoring station; and the angular velocity estimate and the angular velocity measurement value 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. The solution provided by the present invention enables multiple monitoring stations to quickly and accurately locate the same target.

Description

Technical Field

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

[0002] A video surveillance station (hereinafter referred to as a 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 generally observes at a certain frame rate, obtaining an optical image of the target. The signal processor calculates and stores relevant information. Monitoring stations generally have search and tracking modes. Each monitoring station has a specific observation angle. In search mode, the monitoring station searches for the target within the observation angle. In tracking mode, the monitoring station automatically controls the rotation of the turntable to ensure that the optical detector follows the target and continuously obtains the target image. When a single monitoring station observes a target, it only obtains the target's image and angle measurement information, but lacks more meaningful information such as the target's position and velocity. With the systematic development of monitoring systems, monitoring stations are being deployed more densely. The observation angles of each monitoring station overlap to a certain extent. This provides the hardware foundation for two or more monitoring stations to work together. This enables two or more monitoring stations to observe the same target simultaneously, thereby obtaining more information about the target's position and motion, facilitating target tracking, measurement, and action. 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 target position based on 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:

[0005] Continuously tracking the target using a master monitoring station so that the turntable of the master monitoring station continuously points toward the target; wherein, during the continuous tracking process, the master monitoring station captures multiple first target images at a preset frame rate, and each captured first target image is marked with a current capture time and a current pointing angle of the turntable of the master monitoring station;

[0006] The slave monitoring station continuously searches for a target within its working angle range according to preset criteria. When the slave monitoring station finds a target, the slave monitoring station tracks the target and captures multiple second target images at a preset frame rate during the continuous tracking process. Each captured second target image is marked with the current capture time and the current pointing angle of the slave monitoring station's turntable.

[0007] When both the master monitoring station and the slave monitoring station are 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 that acquisition time is calculated based on the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station;

[0008] Calculating an estimated angular velocity of the target relative to the slave monitoring station based on the target position at different acquisition times;

[0009] 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;

[0010] 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.

[0011] In one possible design, when the slave monitoring station searches for a target, after the slave monitoring station tracks the target, the method further includes:

[0012] 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 criteria by the slave monitoring station is re-executed.

[0013] In one possible design, the process of tracking the target from the monitoring station further includes:

[0014] During the tracking process from the monitoring station, continuously searching the second target image for a new target that meets the preset criteria;

[0015] When a new target is found, it is tracked.

[0016] In one possible design, at each acquisition time, the target position at that acquisition time is calculated based on the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station, including:

[0017] Calculating the separation distance between the master monitoring station and the slave monitoring station;

[0018] The target position of the target relative to the master monitoring station is calculated according to the separation distance, the turntable pointing angle of the master monitoring station, and the turntable pointing angle of the slave monitoring station.

[0019] In one possible design, calculating an estimated angular velocity of the target relative to the slave monitoring station based on the target positions at different acquisition times includes:

[0020] Arranging the target positions calculated at different acquisition times in chronological order to obtain a position sequence;

[0021] Calculating the linear velocity of the target according to the preset frame rate and the position sequence;

[0022] An estimated angular velocity of the target relative to the slave monitoring station is calculated based on the linear velocity and the position sequence.

[0023] In one possible design, calculating the 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 includes:

[0024] Arranging 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;

[0025] An 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.

[0026] In one possible design, comparing the angular velocity estimate and the angular velocity measurement to verify whether the target tracked by the slave monitoring station is the same as the target tracked by the master monitoring station includes:

[0027] Comparing the angular velocity measurement value with the angular velocity estimation value to obtain a relative error;

[0028] 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.

[0029] In a second aspect, an embodiment of the present invention further provides a dual-station collaborative video surveillance station target association device for implementing any of the above methods, the device comprising:

[0030] A first unit is configured to continuously track a target using a master monitoring station so that a turntable of the master monitoring station continuously points toward the target; wherein the master monitoring station captures a plurality of first target images at a preset frame rate during the continuous tracking process, and each captured frame of the first target image is marked with a current capture time and a current pointing angle of the turntable of the master monitoring station;

[0031] The second unit is configured to continuously search for a target within its working angle range using a slave monitoring station according to preset criteria. When the slave monitoring station finds a target, the slave monitoring station tracks the target and captures a plurality of second target images at a preset frame rate during the continuous tracking process. Each captured frame of the second target image is marked with a current capture time and a current pointing angle of the turntable of the slave monitoring station.

[0032] A third unit is configured to, when both the master monitoring station and the slave monitoring station are tracking the target, assume that the targets tracked by the master monitoring station and the slave monitoring station are the same target, and execute: at each acquisition time, calculating the target position at the acquisition time based on the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station;

[0033] a fourth unit, configured to calculate an estimated value of an angular velocity of the target relative to the slave monitoring station according to the target position at different acquisition times;

[0034] A fifth unit is configured to calculate 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 pointing angle of the turntable of the slave monitoring station;

[0035] The sixth unit is configured 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.

[0036] In a third aspect, an embodiment of the present invention further provides 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 described in any embodiment of this specification is implemented.

[0037] 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.

[0038] Compared with the prior art, the present invention has at least the following beneficial effects:

[0039] In this embodiment, the master monitoring station continuously tracks and monitors a target, and during the tracking and monitoring process, it continuously obtains first image information about the target at a preset frame rate. The slave monitoring station continuously searches for targets in its working angle area, and when a target matching the preset criteria is found, it tracks the target, and during the tracking process, it also obtains second image information about the target at a preset frame rate. When the master monitoring station and the slave monitoring station simultaneously track a target at different angles, more position and motion information of the target can be calculated based on their respective turntable angles, facilitating the tracking, measurement, and handling of the target. However, the targets searched for by the slave monitoring station according to the preset standard information may contain errors. In addition, the slave monitoring station may search and track multiple different targets within its working angle area according to the preset criteria. 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 targets tracked by the master monitoring station and the slave monitoring station are the same target. Under this premise, calculations are performed. The target position at the acquisition time is first calculated based on the turntable pointing angles of the master monitoring station and the turntable pointing angles of the slave monitoring station. After obtaining the target position, the estimated angular velocity of the target relative to the slave monitoring station can be calculated based on the target position at different acquisition times. Then, the angular velocity measurement value of the target relative to the slave monitoring station is calculated based on 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. The angular velocity estimate 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 estimate 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

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 This is a flow chart of a method for associating target video surveillance stations in dual-station collaboration provided by one embodiment of the present invention;

[0042] Figure 2 This is a hardware architecture diagram of an electronic device provided by one embodiment of the present invention;

[0043] Figure 3 This is a structural diagram of a target association device for a dual-station collaborative video surveillance station provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0044] 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, not all the embodiments. Based on the embodiments of 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.

[0045] The specific implementation of the above concept is described below.

[0046] Please refer to Figure 1 The embodiment of the present invention provides a dual-station collaborative video surveillance station target association method, comprising:

[0047] Continuously tracking the target using the main monitoring station so that the turntable of the main monitoring station continuously points at the target; wherein, during the continuous tracking process, the main monitoring station captures multiple first target images at a preset frame rate, and each captured first target image is marked with the current capture time and the current pointing angle of the turntable of the main monitoring station;

[0048] The slave monitoring station continuously searches for a target within its working angle range according to preset criteria. When the slave monitoring station finds the target, it tracks the target and captures multiple second target images at a preset frame rate during the continuous tracking process. Each captured second target image is marked with the current capture time and the current turning angle of the slave monitoring station.

[0049] When both the master and slave monitoring stations are tracking a target, it is assumed that the target tracked by the master and slave monitoring stations is the same target, and the following operations are performed: at each acquisition time, the target position at that acquisition time is calculated based on the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station;

[0050] The estimated angular velocity of the target relative to the monitoring station is calculated based on the target position at different acquisition times;

[0051] 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;

[0052] Compare the angular velocity estimates to the angular velocity measurements to verify that the target tracked by the slave station is the same target tracked by the master station.

[0053] In this embodiment, the master monitoring station continuously tracks and monitors a target, and during the tracking and monitoring process, it continuously obtains first image information about the target at a preset frame rate. The slave monitoring station continuously searches for targets in its working angle area, and when a target matching the preset criteria is found, it tracks the target, and during the tracking process, it also obtains second image information about the target at a preset frame rate. When the master monitoring station and the slave monitoring station simultaneously track a target at different angles, more position and motion information of the target can be calculated based on their respective turntable angles, facilitating the tracking, measurement, and handling of the target. However, the targets searched for by the slave monitoring station according to the preset standard information may contain errors. In addition, the slave monitoring station may search and track multiple different targets within its working angle area according to the preset criteria. 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 targets tracked by the master monitoring station and the slave monitoring station are the same target. Under this premise, calculations are performed. The target position at the acquisition time is first calculated based on the turntable pointing angles of the master monitoring station and the turntable pointing angles of the slave monitoring station. After obtaining the target position, the estimated angular velocity of the target relative to the slave monitoring station can be calculated based on the target position at different acquisition times. Then, the angular velocity measurement value of the target relative to the slave monitoring station is calculated based on 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. The angular velocity estimate 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 estimate value) are close to or the same, it proves that the master monitoring station and the slave monitoring station are tracking the same target.

[0054] In some embodiments of the present invention, when a target is searched from a monitoring station, after tracking the target from the monitoring station, the method further includes:

[0055] 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.

[0056] In this embodiment, a brief tracking period from the monitoring station is sufficient to verify the correctness of the tracked target. Therefore, to increase efficiency, after tracking for a predetermined period from the monitoring station, the search for other possible targets can be continued. It should be noted that even if the angular velocity estimate and the angular velocity measurement are verified to be very close, indicating that the target is likely the correct one, the search should still be continued after the predetermined tracking period, as the target may be temporarily close to the correct one, potentially indicating that it is not the correct one. Therefore, continuous searching and verification are necessary to find a target whose angular velocity estimate and the angular velocity measurement are even closer, indicating that it is more correct.

[0057] In some embodiments of the present invention, the process of tracking the target from the monitoring station further includes:

[0058] During tracking from the monitoring station, continuously searching for new targets meeting preset criteria in the second target image;

[0059] When a new target is found, it is tracked.

[0060] In this embodiment, during the tracking process from the monitoring station, the second target image may continue to be searched for targets that meet the preset criteria. If a new target is found, the current target may be immediately verified while the new target is tracked.

[0061] In some embodiments of the present invention, at each acquisition time, the target position at that acquisition time is calculated based on the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station, including:

[0062] Calculate the separation distance between the master monitoring station and the slave monitoring station;

[0063] The target position relative to the main monitoring station is calculated based on the separation distance, the turntable pointing angle of the main monitoring station and the turntable pointing angle of the slave monitoring station.

[0064] 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

[0065]

[0066] The angle α of the line L connecting the master monitoring station and the slave monitoring station deviating from the X axis is

[0067]

[0068] 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:

[0069]

[0070] Then the target position coordinates (xi, yi) are obtained as:

[0071]

[0072] In some embodiments of the present invention, calculating an estimated angular velocity of the target relative to the slave monitoring station based on the target position at different acquisition times includes:

[0073] Arrange the target positions calculated at different acquisition times in chronological order to obtain a position sequence;

[0074] Calculate the linear velocity of the target based on the preset frame rate and position sequence;

[0075] Based on the linear velocity and position sequence, the estimated angular velocity of the target relative to the monitoring station is calculated.

[0076] 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 , the component velocities of the target linear velocity in the X and Y directions can be calculated as:

[0077] If N is an even number, ,

[0078] If N is an odd number, ,

[0079] Further calculations yield an estimated value of the target's angular velocity relative to the slave monitoring station:

[0080] If N is an even number,

[0081] If N is an odd number,

[0082] In some embodiments of the present invention, calculating the 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 turning table pointing angle of the slave monitoring station includes:

[0083] Arranging the turntable pointing angles from the monitoring station marked by the plurality of second target images in chronological order to obtain an angle sequence;

[0084] The angular velocity measurement value of the target relative to the monitoring station is calculated based on the angle sequence and the preset frame rate.

[0085] 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 monitoring station can be obtained as:

[0086] If N is an even number,

[0087] If N is an odd number, ,

[0088] In some embodiments of the present invention, comparing the angular velocity estimate and the angular velocity measurement to verify whether the target tracked by the slave monitoring station is the same as the target tracked by the master monitoring station includes:

[0089] Compare the angular velocity measurement value with the angular velocity estimate to obtain the relative error;

[0090] 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.

[0091] The relative error is calculated as follows:

[0092]

[0093] Where ∆ω is the relative error.

[0094] In this embodiment, the preset error value may be 0.1-0.5.

[0095] 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 in FIG. 1 , a hardware architecture diagram of an electronic device where a dual-station collaborative video surveillance station target association device is located is provided in 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 internal memory and runs it. This embodiment provides a dual-station collaborative video surveillance station target association device, including:

[0096] A first unit is configured to continuously track a target using a master monitoring station so that a turntable of the master monitoring station continuously points toward the target; wherein the master monitoring station captures a plurality of first target images at a preset frame rate during the continuous tracking process, and each captured frame of the first target image is marked with a current capture time and a current pointing angle of the turntable of the master monitoring station;

[0097] The second unit is configured to continuously search for a target within its working angle range using a slave monitoring station according to preset criteria. When the slave monitoring station finds a target, the slave monitoring station tracks the target and captures a plurality of second target images at a preset frame rate during the continuous tracking process. Each captured frame of the second target image is marked with a current capture time and a current pointing angle of the turntable of the slave monitoring station.

[0098] A third unit is configured to, when both the master monitoring station and the slave monitoring station are tracking the target, assume that the targets tracked by the master monitoring station and the slave monitoring station are the same target, and execute: at each acquisition time, calculating the target position at the acquisition time based on the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station;

[0099] a fourth unit, configured to calculate an estimated value of an angular velocity of the target relative to the slave monitoring station according to the target position at different acquisition times;

[0100] A fifth unit is configured to calculate 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 pointing angle of the turntable of the slave monitoring station;

[0101] The sixth unit is configured 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.

[0102] It should be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on the dual-station collaborative video surveillance station target association device. In other embodiments of the present invention, the dual-station collaborative video surveillance station target association device may include more or fewer components than illustrated, or may combine or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0103] The information interaction, execution process, etc. 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 specific contents, please refer to the description in the embodiment of the method of the present invention and will not be repeated here.

[0104] 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.

[0105] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the processor executes a dual-station collaborative video surveillance station target association method according to any embodiment of the present invention.

[0106] Specifically, a system or device equipped with a storage medium can be provided, on which software program codes that implement the functions of any of the above-mentioned embodiments are stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program codes stored in the storage medium.

[0107] 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 part of the present invention.

[0108] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-Rs, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, and DVD+RWs), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer via a communications network.

[0109] In addition, it should be clear that the functions of any of the above embodiments can be achieved not only by executing the program code read by the computer, but also by enabling the operating system operating on the computer to complete part or all of the actual operations based on the instructions of the program code.

[0110] In addition, it can be understood that the program code read from the storage medium is written into a memory provided in an expansion board inserted into the computer or into 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 embodiments.

[0111] It should be noted that, in this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising 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 sentence "comprising a ..." do not exclude the presence of other identical factors in the process, method, article or device comprising the elements.

[0112] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk, etc. Various media that can store program codes.

[0113] 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 various embodiments of the present invention.

Claims

1. A dual-station collaborative video surveillance station target association method, characterized in that: include: Continuously tracking the target using a master monitoring station so that the turntable of the master monitoring station continuously points toward the target; wherein, during the continuous tracking process, the master monitoring station captures multiple first target images at a preset frame rate, and each captured first target image is marked with a current capture time and a current pointing angle of the turntable of the master monitoring station; The slave monitoring station continuously searches for a target within its working angle range according to preset criteria. When the slave monitoring station finds a target, the slave monitoring station tracks the target and captures multiple second target images at a preset frame rate during the continuous tracking process. Each captured second target image is marked with the current capture time and the current pointing angle of the slave monitoring station's turntable. When both the master monitoring station and the slave monitoring station are 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 that acquisition time is calculated based on the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station; Calculating an estimated angular velocity of the target relative to the slave monitoring station 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 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.

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 criteria by the slave monitoring station is re-executed.

3. The association method according to claim 1, characterized in that The process of tracking the target from the monitoring station 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.

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

5. The association method according to claim 1, characterized in that: Calculating an estimated value of the target's angular velocity relative to the slave monitoring station based on the target position at different acquisition times includes: Arranging 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 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 based on the acquisition time of the plurality of second target image markers and the turntable pointing angle of the slave monitoring station includes: Arranging 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; An 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.

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 collaborative video surveillance station target association device, characterized in that: For implementing the method according to any one of claims 1 to 7, the apparatus comprises: A first unit is configured to continuously track a target using a master monitoring station so that a turntable of the master monitoring station continuously points toward the target; wherein the master monitoring station captures a plurality of first target images at a preset frame rate during the continuous tracking process, and each captured frame of the first target image is marked with a current capture time and a current pointing angle of the turntable of the master monitoring station; The second unit is configured to continuously search for a target within its working angle range using a slave monitoring station according to preset criteria. When the slave monitoring station finds a target, the slave monitoring station tracks the target and captures a plurality of second target images at a preset frame rate during the continuous tracking process. Each captured frame of the second target image is marked with a current capture time and a current pointing angle of the turntable of the slave monitoring station. A third unit is configured to, when both the master monitoring station and the slave monitoring station are tracking the target, assume that the targets tracked by the master monitoring station and the slave monitoring station are the same target, and execute: at each acquisition time, calculating the target position at the acquisition time based on the turntable pointing angle of the master monitoring station and the turntable pointing angle of the slave monitoring station; a fourth unit, configured to calculate an estimated value of an angular velocity of the target relative to the slave monitoring station according to the target position at different acquisition times; A fifth unit is configured to calculate 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 pointing angle of the turntable of the slave monitoring station; The sixth unit is configured 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.

Images