Wide-angle and long-focus cooperative shooting control method and system

Abstract

The invention provides a wide-angle and long-focus cooperative shooting control method and system, and the method comprises the steps: carrying out the recognition of a wide-angle image shot by a wide-angle shooting end, determining an abnormal image region of the wide-angle image, determining an untrusted view field shooting region of the wide-angle shooting end based on the contour features of the abnormal image region, and carrying out the recognition of the untrusted view field shooting region. A shooting out-of-focus area generated by the wide-angle shooting end in a real environment due to an overlarge distance is calibrated, and a space range is limited for subsequent long-focus shooting; on the basis of the relative position relation between the untrusted view field shooting area and the wide-angle shooting end, at least one long-focus shooting end capable of shooting the untrusted view field shooting area is awakened, the shooting state of the long-focus shooting end is adjusted, and long-focus precise shooting of the local area is achieved; the long-focus image shot by at least one long-focus shooting end is fused into the wide-angle image to obtain the integrated image, large-area shooting and fine shooting of a long-distance object are both considered, and a large-range and large-depth-of-field image about a real environment is provided.

Description

Technical Field

[0001] This invention relates to the field of image capture, and more particularly to a method and system for controlling wide-angle and telephoto coordinated imaging. Background Technology

[0002] Image surveillance has become a primary means of real-world monitoring, typically deploying a single camera to capture images of a target area. While existing cameras can zoom in and out, they can only perform wide-angle or telephoto shots simultaneously. Given the insufficient resolution of wide-angle shots for distant objects and the limited field of view of telephoto shots, which cannot capture a large area, cameras are usually set to wide-angle mode in actual monitoring to prioritize capturing a large area of ​​the target. If precise capture of a distant object within the target area is needed, the camera is switched to telephoto mode for visual identification within a smaller area. Therefore, current image surveillance methods using cameras cannot simultaneously leverage the advantages of wide-angle and telephoto shots. They cannot capture a large area of ​​the target area while simultaneously capturing detailed images of distant objects within that area, nor can they provide a wide-range and deep-field image of the target area, thus reducing the reliability and accuracy of image surveillance. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for wide-angle and telephoto collaborative camera control. This method identifies wide-angle images captured by a wide-angle camera, determines abnormal image areas, and identifies unreliable field-of-view shooting areas based on the contour features of these abnormal areas. It also identifies areas where the wide-angle camera is out of focus in the real environment due to excessive distance, thus defining the spatial range for subsequent telephoto shooting. Based on the relative positional relationship between the unreliable field-of-view shooting areas and the wide-angle camera, at least one telephoto camera capable of shooting these areas is activated, and its shooting state is adjusted to achieve precise telephoto shooting of local areas. Finally, the telephoto images captured by at least one telephoto camera are fused into the wide-angle image to obtain an integrated image, balancing large-area shooting with detailed shooting of distant objects. This provides a wide-range and deep-field image of the real environment, improving the reliability and accuracy of image monitoring.

[0004] This invention is achieved through the following technical solution:

[0005] Wide-angle and telephoto collaborative camera control methods include:

[0006] The wide-angle image captured by the wide-angle camera is identified to determine the abnormal image area; based on the contour features of the abnormal image area, the unreliable field of view area captured by the wide-angle camera is determined.

[0007] Based on the relative positional relationship between the unreliable field of view shooting area and the wide-angle camera, at least one telephoto camera capable of shooting the unreliable field of view shooting area is activated; based on the spatial distribution characteristics of the unreliable field of view shooting area, the shooting state of the at least one telephoto camera is adjusted.

[0008] The telephoto images captured by the at least one telephoto camera are fused into the wide-angle image to obtain an integrated image.

[0009] Optionally, the wide-angle image captured by the wide-angle camera is identified to determine abnormal image regions; based on the contour features of the abnormal image regions, an unreliable field-of-view region of the wide-angle camera is determined, including:

[0010] Based on motion detection data from the wide-angle camera, the duration range of shaking at the wide-angle camera is determined; based on the duration range of shaking, wide-angle images that are not affected by shaking are selected from all wide-angle images captured by the wide-angle camera.

[0011] The image clarity status of the wide-angle image, which is not affected by shaking, is identified to determine the out-of-focus area of ​​the wide-angle image.

[0012] Pixel contour recognition is performed on the out-of-focus area of ​​the wide-angle image to obtain the boundary contour features of the out-of-focus area; based on the boundary contour features and the transformation relationship between the shooting space coordinate system of the wide-angle camera and the space coordinate system of the real environment, the unreliable field of view shooting area of ​​the real environment by the wide-angle camera is determined.

[0013] Optionally, based on the relative positional relationship between the unreliable field-of-view shooting area and the wide-angle camera, at least one telephoto camera capable of shooting the unreliable field-of-view shooting area is activated; based on the spatial distribution characteristics of the unreliable field-of-view shooting area, the shooting state of the at least one telephoto camera is adjusted, including:

[0014] The relative distance and relative orientation between the untrusted field of view shooting area and the wide-angle camera are obtained. The relative distance and relative orientation are compared with the shooting focal length range and shooting field of view range of all telephoto cameras adjacent to the wide-angle camera. At least one telephoto camera that can shoot the untrusted field of view shooting area is determined, and a wake-up command is sent to the at least one telephoto camera.

[0015] Optionally, based on the spatial distribution depth-of-field characteristics of the unreliable field-of-view shooting area in the real environment, the focal length of the at least one telephoto camera for shooting the unreliable field-of-view shooting area is adjusted.

[0016] Optionally, the telephoto image captured by the at least one telephoto camera is fused to the wide-angle image to obtain an integrated image, including:

[0017] Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with the optimal image sharpness;

[0018] Based on the boundary contour features and region size of the abnormal image area in the wide-angle image, the telephoto image with optimal image clarity is cropped and scaled and then merged into the wide-angle image to obtain an integrated image.

[0019] Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with optimal image sharpness, including:

[0020] The reference ISO sensitivity and the actual ISO sensitivity of the telephoto camera are retrieved. Specifically, the reference ISO sensitivity is preset to 400, which is the low noise threshold value of the telephoto end.

[0021] The sensitivity-affecting parameter In = ISOs / ISO is obtained by using the reference ISO sensitivity and the actual ISO sensitivity at the telephoto end; where ISOs represents the actual ISO sensitivity at the telephoto end; and ISO represents the reference ISO sensitivity.

[0022] The actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end are retrieved. Specifically, the preset optimal sharpness aperture for the telephoto end is 5.6, which is the golden aperture for mainstream telephoto lenses.

[0023] Aperture influence parameters are obtained by using the actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end;

[0024] The aperture influence parameters are obtained using the following formula:

[0025]

[0026] Where Fn represents the aperture influence parameter; Fs represents the actual aperture value corresponding to the telephoto end; F0 represents the preset optimal sharpness aperture acquisition aperture influence parameter for the telephoto end;

[0027] The actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end are retrieved, and the focal length influence parameters are obtained by using the actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end.

[0028] The focal length influence parameter is obtained by the following formula:

[0029]

[0030] Where fn represents the focal length-affecting parameter; fs represents the actual shooting focal length corresponding to the telephoto end; fx represents the optimal focusing distance that is closer to the telephoto end; S represents the shutter speed corresponding to the current telephoto end; and S0 represents the reference shutter speed for ideal sharpness at the telephoto end.

[0031] The sharpness judgment coefficient of the telephoto image is obtained by retrieving the sensitivity influence parameters, aperture influence parameters, and focal length influence parameters;

[0032] The sharpness judgment coefficient is obtained by the following formula:

[0033]

[0034] Where L represents the sharpness judgment coefficient; w 01 w 02 and w 03 σ represents the weight values ​​corresponding to the sensitivity, aperture, and focal length influence parameters, respectively; P represents the gray-level entropy after normalization of the telephoto image; σ represents the gray-level standard deviation after normalization of the telephoto image; Z represents the noise variance after normalization of the telephoto image.

[0035] The telephoto image corresponding to the maximum value of the sharpness judgment coefficient is taken as the telephoto image with the optimal image sharpness.

[0036] The wide-angle and telephoto collaborative camera control system includes:

[0037] The wide-angle image recognition module is used to identify wide-angle images captured by a wide-angle camera and determine abnormal image areas in the wide-angle images;

[0038] An unreliable field-of-view shooting area determination module is used to determine the unreliable field-of-view shooting area of ​​the wide-angle camera based on the contour features of the abnormal image area.

[0039] The telephoto camera wake-up module is used to wake up at least one telephoto camera capable of shooting the unbelievable field of view shooting area based on the relative positional relationship between the unbelievable field of view shooting area and the wide-angle camera.

[0040] A telephoto camera adjustment module is used to adjust the shooting state of at least one telephoto camera end based on the spatial distribution characteristics of the unreliable field of view shooting area.

[0041] An image fusion module is used to fuse the telephoto image captured by the at least one telephoto camera end into the wide-angle image to obtain an integrated image.

[0042] Optionally, the wide-angle image recognition module is used to recognize wide-angle images captured by a wide-angle camera and determine abnormal image areas in the wide-angle image, including:

[0043] Based on motion detection data from the wide-angle camera, the duration range of shaking at the wide-angle camera is determined; based on the duration range of shaking, wide-angle images that are not affected by shaking are selected from all wide-angle images captured by the wide-angle camera.

[0044] The image clarity status of the wide-angle image, which is not affected by shaking, is identified to determine the out-of-focus area of ​​the wide-angle image.

[0045] The unreliable field-of-view shooting region determination module is used to determine the unreliable field-of-view shooting region of the wide-angle camera based on the contour features of the abnormal image region, including:

[0046] Pixel contour recognition is performed on the out-of-focus area of ​​the wide-angle image to obtain the boundary contour features of the out-of-focus area; based on the boundary contour features and the transformation relationship between the shooting space coordinate system of the wide-angle camera and the space coordinate system of the real environment, the unreliable field of view shooting area of ​​the real environment by the wide-angle camera is determined.

[0047] Optionally, the telephoto camera wake-up module is used to wake up at least one telephoto camera capable of shooting the unbelievable field of view area based on the relative positional relationship between the unbelievable field of view shooting area and the wide-angle camera, including:

[0048] The relative distance and relative orientation between the untrusted field of view shooting area and the wide-angle camera are obtained. The relative distance and relative orientation are compared with the shooting focal length range and shooting field of view range of all telephoto cameras adjacent to the wide-angle camera. At least one telephoto camera that can shoot the untrusted field of view shooting area is determined, and a wake-up command is sent to the at least one telephoto camera.

[0049] The telephoto camera adjustment module is used to adjust the shooting state of the at least one telephoto camera end based on the spatial distribution characteristics of the unreliable field of view shooting area, including:

[0050] Based on the spatial distribution depth-of-field characteristics of the unreliable field-of-view shooting area in the real environment, the focal length of the at least one telephoto camera is adjusted for shooting the unreliable field-of-view shooting area.

[0051] Optionally, the image fusion module is used to fuse the telephoto images captured by the at least one telephoto camera end into the wide-angle image to obtain an integrated image, including:

[0052] Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with the optimal image sharpness;

[0053] Based on the boundary contour features and region size of the abnormal image area in the wide-angle image, the telephoto image with optimal image clarity is cropped and scaled and then merged into the wide-angle image to obtain an integrated image.

[0054] Optionally, based on the spatial distribution depth-of-field characteristics of the unreliable field-of-view shooting area in the real environment, the focal length of the at least one telephoto camera for shooting the unreliable field-of-view shooting area is adjusted.

[0055] Optionally, the telephoto image captured by the at least one telephoto camera is fused to the wide-angle image to obtain an integrated image, including:

[0056] Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with the optimal image sharpness;

[0057] Based on the boundary contour features and region size of the abnormal image area in the wide-angle image, the telephoto image with optimal image clarity is cropped and scaled and then merged into the wide-angle image to obtain an integrated image.

[0058] Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with optimal image sharpness, including:

[0059] The reference ISO sensitivity and the actual ISO sensitivity of the telephoto camera are retrieved. Specifically, the reference ISO sensitivity is preset to 400, which is the low noise threshold value of the telephoto end.

[0060] The sensitivity-affecting parameter In = ISOs / ISO is obtained by using the reference ISO sensitivity and the actual ISO sensitivity at the telephoto end; where ISOs represents the actual ISO sensitivity at the telephoto end; and ISO represents the reference ISO sensitivity.

[0061] The actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end are retrieved. Specifically, the preset optimal sharpness aperture for the telephoto end is 5.6, which is the golden aperture for mainstream telephoto lenses.

[0062] Aperture influence parameters are obtained by using the actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end;

[0063] The aperture influence parameters are obtained using the following formula:

[0064]

[0065] Where Fn represents the aperture influence parameter; Fs represents the actual aperture value corresponding to the telephoto end; F0 represents the preset optimal sharpness aperture acquisition aperture influence parameter for the telephoto end;

[0066] The actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end are retrieved, and the focal length influence parameters are obtained by using the actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end.

[0067] The focal length influence parameter is obtained by the following formula:

[0068]

[0069] Where fn represents the focal length-affecting parameter; fs represents the actual shooting focal length corresponding to the telephoto end; fx represents the optimal focusing distance that is closer to the telephoto end; S represents the shutter speed corresponding to the current telephoto end; and S0 represents the reference shutter speed for ideal sharpness at the telephoto end.

[0070] The sharpness judgment coefficient of the telephoto image is obtained by retrieving the sensitivity influence parameters, aperture influence parameters, and focal length influence parameters;

[0071] The sharpness judgment coefficient is obtained by the following formula:

[0072]

[0073] Where L represents the sharpness judgment coefficient; w 01 w 02 and w 03 σ represents the weight values ​​corresponding to the sensitivity, aperture, and focal length influence parameters, respectively; P represents the gray-level entropy after normalization of the telephoto image; σ represents the gray-level standard deviation after normalization of the telephoto image; Z represents the noise variance after normalization of the telephoto image.

[0074] The telephoto image corresponding to the maximum value of the sharpness judgment coefficient is taken as the telephoto image with the optimal image sharpness.

[0075] Compared with the prior art, the present invention has the following beneficial effects:

[0076] The wide-angle and telephoto collaborative camera control method and system provided in this application identify wide-angle images captured by a wide-angle camera, determine abnormal image areas in the wide-angle images, and, based on the contour features of the abnormal image areas, determine unreliable field-of-view shooting areas of the wide-angle camera, marking areas where the wide-angle camera is out of focus in the real environment due to excessive distance, thus defining the spatial range for subsequent telephoto shooting; based on the relative positional relationship between the unreliable field-of-view shooting areas and the wide-angle camera, activate at least one telephoto camera capable of shooting the unreliable field-of-view shooting areas, and adjust the shooting state of the telephoto camera to achieve precise telephoto shooting of local areas; fuse the telephoto images captured by at least one telephoto camera into the wide-angle image to obtain an integrated image, balancing large-area shooting with detailed shooting of distant objects, providing a wide-range and deep-field image of the real environment, and improving the reliability and accuracy of image monitoring. Attached Figure Description

[0077] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0078] Figure 1 This is a flowchart illustrating the wide-angle and telephoto collaborative camera control method provided by the present invention.

[0079] Figure 2 This is a schematic diagram of the structure of the wide-angle and telephoto collaborative camera control system provided by the present invention. Detailed Implementation

[0080] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0081] The terms “comprising” and “having”, and any variations thereof, used in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0082] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0083] Please see Figure 1 As shown, an embodiment of this application provides a wide-angle and telephoto collaborative camera control method. This wide-angle and telephoto collaborative camera control method includes:

[0084] Identify and determine abnormal image areas in wide-angle images captured by a wide-angle camera; based on the contour features of the abnormal image areas, determine the unreliable field-of-view areas captured by the wide-angle camera.

[0085] Based on the relative positional relationship between the unreliable field of view shooting area and the wide-angle camera end, at least one telephoto camera end capable of shooting the unreliable field of view shooting area is activated; based on the spatial distribution characteristics of the unreliable field of view shooting area, the shooting state of at least one telephoto camera end is adjusted.

[0086] The telephoto image captured by at least one telephoto camera is fused into the wide-angle image to obtain the integrated image.

[0087] The beneficial effects of the above embodiments are as follows: This wide-angle and telephoto collaborative camera control method identifies wide-angle images captured by a wide-angle camera, determines abnormal image areas in the wide-angle image, and, based on the contour features of the abnormal image areas, determines unreliable field-of-view shooting areas of the wide-angle camera, marking areas where the wide-angle camera is out of focus in the real environment due to excessive distance, thus defining the spatial range for subsequent telephoto shooting; based on the relative positional relationship between the unreliable field-of-view shooting areas and the wide-angle camera, it activates at least one telephoto camera capable of shooting the unreliable field-of-view shooting areas and adjusts the shooting state of the telephoto camera to achieve precise telephoto shooting of local areas; and it fuses the telephoto images captured by at least one telephoto camera into the wide-angle image to obtain an integrated image, taking into account both large-area shooting and detailed shooting of distant objects, providing a wide-range and deep-field image of the real environment, and improving the reliability and accuracy of image monitoring.

[0088] In another embodiment, the wide-angle image captured by the wide-angle camera is identified to determine abnormal image regions; based on the contour features of the abnormal image regions, the unreliable field-of-view capture region of the wide-angle camera is determined, including:

[0089] Based on motion detection data from the wide-angle camera, the duration range of camera shake is determined; based on the duration range of shake, wide-angle images that are not affected by shake are selected from all wide-angle images captured by the wide-angle camera.

[0090] The image sharpness status of wide-angle images that are not affected by shaking is identified to determine the out-of-focus areas of the wide-angle images;

[0091] Pixel contour recognition is performed on the out-of-focus areas of wide-angle images to obtain the boundary contour features of the out-of-focus areas. Based on the boundary contour features and the transformation relationship between the shooting space coordinate system of the wide-angle camera and the space coordinate system of the real environment, the unreliable field of view shooting area of ​​the wide-angle camera on the real environment is determined.

[0092] The beneficial effects of the above embodiments are that, in image monitoring of a target area in a real environment, a wide-angle camera and multiple telephoto cameras are simultaneously set up to capture wide-angle and telephoto images of the target area respectively. The wide-angle camera's field of view can cover the entire spatial range of the target area; the multiple telephoto cameras can have different focal lengths, allowing each telephoto camera to accurately capture objects at different distances within the target area, and the shooting operations of different telephoto cameras are relatively independent. During actual wide-angle shooting, some objects may be too far away to focus accurately, resulting in out-of-focus images of the corresponding object areas. However, out-of-focus images from a wide-angle camera may also be caused by camera shake. To avoid misinterpreting localized out-of-focus areas caused by wide-angle camera shake as being due to objects being too far away, the motion acceleration detection data of the wide-angle camera itself is first analyzed to identify the duration range of the camera shake event. Then, using this duration range as a benchmark, wide-angle images unaffected by shake are selected from all images captured by the camera. Images captured within the specified duration range are discarded, while images captured outside this range are retained as unaffected wide-angle images. This allows for accurate identification of out-of-focus areas caused by objects being too far away, reducing the error rate in identifying out-of-focus areas. Next, the sharpness status of the unaffected wide-angle images is assessed to obtain the overall sharpness distribution information of the wide-angle image. Based on this global sharpness distribution information, the out-of-focus areas of the wide-angle image are then identified. Furthermore, pixel contour recognition is performed on the out-of-focus areas of the wide-angle image to obtain the boundary contour features of the out-of-focus areas, and the shape and area occupied by the out-of-focus areas in the wide-angle image are quantitatively characterized. Then, based on the boundary contour features and the transformation relationship between the shooting space coordinate system of the wide-angle camera and the space coordinate system of the real environment, the out-of-focus areas of the image are mapped to the real environment, and the mapped space area of ​​the out-of-focus areas in the real environment is determined as the unreliable field of view shooting area of ​​the wide-angle camera on the real environment, that is, the local space area where the wide-angle camera cannot accurately focus on the real environment. This accurately limits the range for subsequent local shooting of the real environment using the telephoto camera.

[0093] In another embodiment, based on the relative positional relationship between the unreliable field-of-view shooting area and the wide-angle camera, at least one telephoto camera capable of shooting the unreliable field-of-view shooting area is activated; based on the spatial distribution characteristics of the unreliable field-of-view shooting area, the shooting state of the at least one telephoto camera is adjusted, including:

[0094] Obtain the relative distance and relative orientation between the untrusted field of view shooting area and the wide-angle camera, compare the relative distance and relative orientation with the shooting focal length range and shooting field of view range of all telephoto cameras adjacent to the wide-angle camera, determine at least one telephoto camera that can shoot the untrusted field of view shooting area, and send a wake-up command to at least one telephoto camera.

[0095] Based on the spatial distribution depth characteristics of the unreliable field of view shooting area in the real environment, adjust the shooting focal length of at least one telephoto camera end for the unreliable field of view shooting area.

[0096] The beneficial effect of the above embodiments is that, given that the unreliable field of view shooting area is a local spatial area where the wide-angle camera cannot accurately focus and shoot the real environment, it can be determined that there are objects that are too far away inside the unreliable field of view shooting area and are beyond the focusing range of the wide-angle camera itself. At this time, it is necessary to use a telephoto camera to shoot the unreliable field of view shooting area with telephoto. To ensure accurate focusing and shooting of the unreliable field of view area by the telephoto camera, the relative distance and orientation between the unreliable field of view area and the wide-angle camera are first obtained. The relative distance and orientation are then compared with the shooting focal length range and shooting field of view range of all telephoto cameras adjacent to the wide-angle camera to obtain the matching degree between the shooting focal length range and shooting field of view range of each telephoto camera and the aforementioned relative distance and orientation. The telephoto camera with the highest matching degree or the top few highest matching degrees is then selected to perform telephoto shooting of the unreliable field of view area. At the same time, a wake-up command is sent to the telephoto camera. When the telephoto camera receives the wake-up command, it will directly stop its current shooting task and switch to performing telephoto shooting of the unreliable field of view area. Furthermore, based on the spatial distribution depth-of-field characteristics of the unreliable field-of-view shooting area in the real environment (such as the spatial distribution depth-of-field characteristics of different points in the unreliable field-of-view shooting area in the real environment), the focal length of at least one telephoto camera is adjusted to shoot the unreliable field-of-view shooting area, so that the adjusted shooting focal length matches the depth of field of the unreliable field-of-view shooting area, ensuring that the telephoto camera accurately focuses and shoots the unreliable field-of-view shooting area.

[0097] In another embodiment, a telephoto image captured by at least one telephoto camera is fused to a wide-angle image to obtain an integrated image, including:

[0098] Image sharpness identification is performed on all telephoto images captured by at least one telephoto camera to determine the telephoto image with the best image sharpness;

[0099] Based on the boundary contour features and region size of abnormal image areas in the wide-angle image, the telephoto image with the best image clarity is cropped and scaled and then fused into the wide-angle image to obtain an integrated image.

[0100] The beneficial effects of the above embodiments are as follows: Considering that different telephoto cameras have different shooting focal length ranges, and that the shooting clarity of different telephoto cameras for the same unreliable field of view shooting area is also different, in order to ensure that the same image can cover both large-area shooting of the target area and precise focusing shooting of the unreliable field of view shooting area, image clarity identification is performed on all telephoto images captured by at least one telephoto camera end to determine the telephoto image with optimal image clarity. Thus, the telephoto image with optimal image clarity is the image with the best quality obtained in the telephoto shooting process of the unreliable field of view shooting area. Furthermore, based on the boundary contour features and area size of the abnormal image area in the wide-angle image, the telephoto image with optimal image clarity is cropped and scaled to obtain an integrated image. This ensures that the processed telephoto image with optimal image clarity matches the original out-of-focus area in the wide-angle image in shape and size, taking into account both large-area shooting and detailed shooting of distant objects, providing a large-scale and deep-field image of the real environment, and improving the reliability and accuracy of image monitoring.

[0101] In another embodiment, the telephoto image captured by the at least one telephoto camera is fused to the wide-angle image to obtain an integrated image, including:

[0102] Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with the optimal image sharpness;

[0103] Based on the boundary contour features and region size of the abnormal image area in the wide-angle image, the telephoto image with optimal image clarity is cropped and scaled and then merged into the wide-angle image to obtain an integrated image.

[0104] Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with optimal image sharpness, including:

[0105] The reference ISO sensitivity and the actual ISO sensitivity of the telephoto camera are retrieved. Specifically, the reference ISO sensitivity is preset to 400, which is the low noise threshold value of the telephoto end.

[0106] The sensitivity-affecting parameter In = ISOs / ISO is obtained by using the reference ISO sensitivity and the actual ISO sensitivity at the telephoto end; where ISOs represents the actual ISO sensitivity at the telephoto end; and ISO represents the reference ISO sensitivity.

[0107] The actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end are retrieved. Specifically, the preset optimal sharpness aperture for the telephoto end is 5.6, which is the golden aperture for mainstream telephoto lenses.

[0108] Aperture influence parameters are obtained by using the actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end;

[0109] The aperture influence parameters are obtained using the following formula:

[0110]

[0111] Where Fn represents the aperture influence parameter; Fs represents the actual aperture value corresponding to the telephoto end; F0 represents the preset optimal sharpness aperture acquisition aperture influence parameter for the telephoto end;

[0112] The actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end are retrieved, and the focal length influence parameters are obtained by using the actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end.

[0113] The focal length influence parameter is obtained by the following formula:

[0114]

[0115] Where fn represents the focal length-affecting parameter; fs represents the actual shooting focal length corresponding to the telephoto end; fx represents the optimal focusing distance that is closer to the telephoto end; S represents the shutter speed corresponding to the current telephoto end; and S0 represents the reference shutter speed for ideal sharpness at the telephoto end.

[0116] The sharpness judgment coefficient of the telephoto image is obtained by retrieving the sensitivity influence parameters, aperture influence parameters, and focal length influence parameters;

[0117] The sharpness judgment coefficient is obtained by the following formula:

[0118]

[0119] Where L represents the sharpness judgment coefficient; w 01 w 02 and w 03 σ represents the weight values ​​corresponding to the sensitivity, aperture, and focal length influence parameters, respectively; P represents the gray-level entropy after normalization of the telephoto image; σ represents the gray-level standard deviation after normalization of the telephoto image; Z represents the noise variance after normalization of the telephoto image.

[0120] The telephoto image corresponding to the maximum value of the sharpness judgment coefficient is taken as the telephoto image with the optimal image sharpness.

[0121] The beneficial effects of the above embodiments are that, by deeply integrating hardware shooting parameters and inherent image features, they comprehensively cover the core dimensions affecting the sharpness of telephoto images, effectively improving the accuracy and scientific rigor of selecting the optimal sharpness telephoto images. Furthermore, by specifically integrating hardware parameters such as ISO, aperture, and focal length (including shutter speed coordination) with pixel features such as grayscale entropy, grayscale standard deviation, and noise variance, they overcome the limitations of single-dimensional judgment, making the accuracy of sharpness evaluation higher. Simultaneously, they effectively match the actual situation of telephoto images with the actual hardware situation of telephoto cameras. Each hardware parameter is precisely adapted to the characteristics of a telephoto lens: ISO parameters focus on low-noise requirements, aperture parameters fit the optimal sharpness range, and focal length parameters, combined with shutter speed, enhance focusing accuracy and anti-motion blur capability, synergistically building a solid foundation for sharpness at the hardware level. Normalization processing of inherent image features eliminates cross-image scale differences, making indicators such as detail richness, contrast, and interference levels comparable, and optimizing judgment accuracy through weight allocation. The sharpness judgment coefficient, through multi-dimensional weighted integration, amplifies the feature differences between sharp and blurry images, making the selection logic objective and quantifiable, and avoiding the risk of misselection. Accurate selection of the image with the optimal sharpness provides high-quality material for subsequent cropping, scaling, and fusion with wide-angle images, ensuring the detail restoration of abnormal areas and the overall sharpness of the integrated image.

[0122] Please see Figure 2 As shown, an embodiment of this application provides a wide-angle and telephoto collaborative camera control system. This wide-angle and telephoto collaborative camera control system includes:

[0123] The wide-angle image recognition module is used to identify wide-angle images captured by a wide-angle camera and determine abnormal areas in the wide-angle image.

[0124] The unreliable field-of-view shooting area determination module is used to determine the unreliable field-of-view shooting area of ​​the wide-angle camera based on the contour features of the abnormal image area.

[0125] The telephoto camera wake-up module is used to wake up at least one telephoto camera capable of shooting the untrusted field of view area based on the relative positional relationship between the untrusted field of view shooting area and the wide-angle camera.

[0126] The telephoto camera adjustment module is used to adjust the shooting state of at least one telephoto camera end based on the spatial distribution characteristics of the unreliable field of view shooting area.

[0127] The image fusion module is used to fuse a telephoto image captured by at least one telephoto camera into a wide-angle image to obtain an integrated image.

[0128] The beneficial effects of the above embodiments are as follows: the wide-angle and telephoto collaborative camera control system identifies the wide-angle image captured by the wide-angle camera, determines the abnormal image area, and, based on the contour features of the abnormal image area, determines the unreliable field of view shooting area of ​​the wide-angle camera, marking the area where the wide-angle camera is out of focus due to excessive distance in the real environment, thus defining the spatial range for subsequent telephoto shooting; based on the relative positional relationship between the unreliable field of view shooting area and the wide-angle camera, it activates at least one telephoto camera capable of shooting the unreliable field of view shooting area, and adjusts the shooting state of the telephoto camera to achieve precise telephoto shooting of local areas; the telephoto image captured by at least one telephoto camera is fused into the wide-angle image to obtain an integrated image, which takes into account both large-area shooting and detailed shooting of distant objects, providing a large-scale and deep-field image of the real environment, improving the reliability and accuracy of image monitoring.

[0129] In another embodiment, the wide-angle image recognition module is used to identify wide-angle images captured by a wide-angle camera and determine abnormal areas in the wide-angle image, including:

[0130] Based on motion detection data from the wide-angle camera, the duration range of camera shake is determined; based on the duration range of shake, wide-angle images that are not affected by shake are selected from all wide-angle images captured by the wide-angle camera.

[0131] The image sharpness status of wide-angle images that are not affected by shaking is identified to determine the out-of-focus areas of the wide-angle images;

[0132] The unreliable field-of-view shooting area determination module is used to determine the unreliable field-of-view shooting area of ​​the wide-angle camera based on the contour features of abnormal image areas, including:

[0133] Pixel contour recognition is performed on the out-of-focus areas of wide-angle images to obtain the boundary contour features of the out-of-focus areas. Based on the boundary contour features and the transformation relationship between the shooting space coordinate system of the wide-angle camera and the space coordinate system of the real environment, the unreliable field of view shooting area of ​​the wide-angle camera on the real environment is determined.

[0134] The beneficial effects of the above embodiments are that, in image monitoring of a target area in a real environment, a wide-angle camera and multiple telephoto cameras are simultaneously set up to capture wide-angle and telephoto images of the target area respectively. The wide-angle camera's field of view can cover the entire spatial range of the target area; the multiple telephoto cameras can have different focal lengths, allowing each telephoto camera to accurately capture objects at different distances within the target area, and the shooting operations of different telephoto cameras are relatively independent. During actual wide-angle shooting, some objects may be too far away to focus accurately, resulting in out-of-focus images of the corresponding object areas. However, out-of-focus images from a wide-angle camera may also be caused by camera shake. To avoid misinterpreting localized out-of-focus areas caused by wide-angle camera shake as being due to objects being too far away, the motion acceleration detection data of the wide-angle camera itself is first analyzed to identify the duration range of the camera shake event. Then, using this duration range as a benchmark, wide-angle images unaffected by shake are selected from all images captured by the camera. Images captured within the specified duration range are discarded, while images captured outside this range are retained as unaffected wide-angle images. This allows for accurate identification of out-of-focus areas caused by objects being too far away, reducing the error rate in identifying out-of-focus areas. Next, the sharpness status of the unaffected wide-angle images is assessed to obtain the overall sharpness distribution information of the wide-angle image. Based on this global sharpness distribution information, the out-of-focus areas of the wide-angle image are then identified. Furthermore, pixel contour recognition is performed on the out-of-focus areas of the wide-angle image to obtain the boundary contour features of the out-of-focus areas, and the shape and area occupied by the out-of-focus areas in the wide-angle image are quantitatively characterized. Then, based on the boundary contour features and the transformation relationship between the shooting space coordinate system of the wide-angle camera and the space coordinate system of the real environment, the out-of-focus areas of the image are mapped to the real environment, and the mapped space area of ​​the out-of-focus areas in the real environment is determined as the unreliable field of view shooting area of ​​the wide-angle camera on the real environment, that is, the local space area where the wide-angle camera cannot accurately focus on the real environment. This accurately limits the range for subsequent local shooting of the real environment using the telephoto camera.

[0135] In another embodiment, the telephoto camera wake-up module is used to wake up at least one telephoto camera capable of shooting the unreliable field of view area based on the relative positional relationship between the unreliable field of view shooting area and the wide-angle camera, including:

[0136] Obtain the relative distance and relative orientation between the untrusted field of view shooting area and the wide-angle camera, compare the relative distance and relative orientation with the shooting focal length range and shooting field of view range of all telephoto cameras adjacent to the wide-angle camera, determine at least one telephoto camera that can shoot the untrusted field of view shooting area, and send a wake-up command to at least one telephoto camera.

[0137] The telephoto camera adjustment module is used to adjust the shooting state of at least one telephoto camera end based on the spatial distribution characteristics of the unreliable field of view shooting area, including:

[0138] Based on the spatial distribution depth characteristics of the unreliable field of view shooting area in the real environment, adjust the shooting focal length of at least one telephoto camera end for the unreliable field of view shooting area.

[0139] The beneficial effect of the above embodiments is that, given that the unreliable field of view shooting area is a local spatial area where the wide-angle camera cannot accurately focus and shoot the real environment, it can be determined that there are objects that are too far away inside the unreliable field of view shooting area and are beyond the focusing range of the wide-angle camera itself. At this time, it is necessary to use a telephoto camera to shoot the unreliable field of view shooting area with telephoto. To ensure accurate focusing and shooting of the unreliable field of view area by the telephoto camera, the relative distance and orientation between the unreliable field of view area and the wide-angle camera are first obtained. The relative distance and orientation are then compared with the shooting focal length range and shooting field of view range of all telephoto cameras adjacent to the wide-angle camera to obtain the matching degree between the shooting focal length range and shooting field of view range of each telephoto camera and the aforementioned relative distance and orientation. The telephoto camera with the highest matching degree or the top few highest matching degrees is then selected to perform telephoto shooting of the unreliable field of view area. At the same time, a wake-up command is sent to the telephoto camera. When the telephoto camera receives the wake-up command, it will directly stop its current shooting task and switch to performing telephoto shooting of the unreliable field of view area. Furthermore, based on the spatial distribution depth-of-field characteristics of the unreliable field-of-view shooting area in the real environment (such as the spatial distribution depth-of-field characteristics of different points in the unreliable field-of-view shooting area in the real environment), the focal length of at least one telephoto camera is adjusted to shoot the unreliable field-of-view shooting area, so that the adjusted shooting focal length matches the depth of field of the unreliable field-of-view shooting area, ensuring that the telephoto camera accurately focuses and shoots the unreliable field-of-view shooting area.

[0140] In another embodiment, the image fusion module is used to fuse a telephoto image captured by at least one telephoto camera end into a wide-angle image to obtain a combined image, including:

[0141] Image sharpness identification is performed on all telephoto images captured by at least one telephoto camera to determine the telephoto image with the best image sharpness;

[0142] Based on the boundary contour features and region size of abnormal image areas in the wide-angle image, the telephoto image with the best image clarity is cropped and scaled and then fused into the wide-angle image to obtain an integrated image.

[0143] The beneficial effects of the above embodiments are as follows: Considering that different telephoto cameras have different shooting focal length ranges, and that the shooting clarity of different telephoto cameras for the same unreliable field of view shooting area is also different, in order to ensure that the same image can cover both large-area shooting of the target area and precise focusing shooting of the unreliable field of view shooting area, image clarity identification is performed on all telephoto images captured by at least one telephoto camera end to determine the telephoto image with optimal image clarity. Thus, the telephoto image with optimal image clarity is the image with the best quality obtained in the telephoto shooting process of the unreliable field of view shooting area. Furthermore, based on the boundary contour features and area size of the abnormal image area in the wide-angle image, the telephoto image with optimal image clarity is cropped and scaled to obtain an integrated image. This ensures that the processed telephoto image with optimal image clarity matches the original out-of-focus area in the wide-angle image in shape and size, taking into account both large-area shooting and detailed shooting of distant objects, providing a large-scale and deep-field image of the real environment, and improving the reliability and accuracy of image monitoring.

[0144] In another embodiment, the telephoto image captured by the at least one telephoto camera is fused to the wide-angle image to obtain an integrated image, including:

[0145] Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with the optimal image sharpness;

[0146] Based on the boundary contour features and region size of the abnormal image area in the wide-angle image, the telephoto image with optimal image clarity is cropped and scaled and then merged into the wide-angle image to obtain an integrated image.

[0147] Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with optimal image sharpness, including:

[0148] The reference ISO sensitivity and the actual ISO sensitivity of the telephoto camera are retrieved. Specifically, the reference ISO sensitivity is preset to 400, which is the low noise threshold value of the telephoto end.

[0149] The sensitivity-affecting parameter In = ISOs / ISO is obtained by using the reference ISO sensitivity and the actual ISO sensitivity at the telephoto end; where ISOs represents the actual ISO sensitivity at the telephoto end; and ISO represents the reference ISO sensitivity.

[0150] The actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end are retrieved. Specifically, the preset optimal sharpness aperture for the telephoto end is 5.6, which is the golden aperture for mainstream telephoto lenses.

[0151] Aperture influence parameters are obtained by using the actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end;

[0152] The aperture influence parameters are obtained using the following formula:

[0153]

[0154] Where Fn represents the aperture influence parameter; Fs represents the actual aperture value corresponding to the telephoto end; F0 represents the preset optimal sharpness aperture acquisition aperture influence parameter for the telephoto end;

[0155] The actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end are retrieved, and the focal length influence parameters are obtained by using the actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end.

[0156] The focal length influence parameter is obtained by the following formula:

[0157]

[0158] Where fn represents the focal length-affecting parameter; fs represents the actual shooting focal length corresponding to the telephoto end; fx represents the optimal focusing distance that is closer to the telephoto end; S represents the shutter speed corresponding to the current telephoto end; and S0 represents the reference shutter speed for ideal sharpness at the telephoto end.

[0159] The sharpness judgment coefficient of the telephoto image is obtained by retrieving the sensitivity influence parameters, aperture influence parameters, and focal length influence parameters;

[0160] The sharpness judgment coefficient is obtained by the following formula:

[0161]

[0162] Where L represents the sharpness judgment coefficient; w 01 w 02 and w 03σ represents the weight values ​​corresponding to the sensitivity, aperture, and focal length influence parameters, respectively; P represents the gray-level entropy after normalization of the telephoto image; σ represents the gray-level standard deviation after normalization of the telephoto image; Z represents the noise variance after normalization of the telephoto image.

[0163] The telephoto image corresponding to the maximum value of the sharpness judgment coefficient is taken as the telephoto image with the optimal image sharpness.

[0164] The beneficial effects of the above embodiments are that, by deeply integrating hardware shooting parameters and inherent image features, they comprehensively cover the core dimensions affecting the sharpness of telephoto images, effectively improving the accuracy and scientific rigor of selecting the optimal sharpness telephoto images. Furthermore, by specifically integrating hardware parameters such as ISO, aperture, and focal length (including shutter speed coordination) with pixel features such as grayscale entropy, grayscale standard deviation, and noise variance, they overcome the limitations of single-dimensional judgment, making the accuracy of sharpness evaluation higher. Simultaneously, they effectively match the actual situation of telephoto images with the actual hardware situation of telephoto cameras. Each hardware parameter is precisely adapted to the characteristics of a telephoto lens: ISO parameters focus on low-noise requirements, aperture parameters fit the optimal sharpness range, and focal length parameters, combined with shutter speed, enhance focusing accuracy and anti-motion blur capability, synergistically building a solid foundation for sharpness at the hardware level. Normalization processing of inherent image features eliminates cross-image scale differences, making indicators such as detail richness, contrast, and interference levels comparable, and optimizing judgment accuracy through weight allocation. The sharpness judgment coefficient, through multi-dimensional weighted integration, amplifies the feature differences between sharp and blurry images, making the selection logic objective and quantifiable, and avoiding the risk of misselection. Accurate selection of the image with the optimal sharpness provides high-quality material for subsequent cropping, scaling, and fusion with wide-angle images, ensuring the detail restoration of abnormal areas and the overall sharpness of the integrated image.

[0165] In summary, this wide-angle and telephoto collaborative camera control method and system identifies wide-angle images captured by a wide-angle camera, determines abnormal image areas, and identifies unreliable field-of-view shooting areas based on the contour features of these abnormal areas. It also identifies areas where the wide-angle camera is out of focus due to excessive distance in the real environment, thus defining the spatial range for subsequent telephoto shooting. Based on the relative positional relationship between the unreliable field-of-view shooting areas and the wide-angle camera, it activates at least one telephoto camera capable of shooting these areas and adjusts its shooting state to achieve precise telephoto shooting of localized areas. Finally, it fuses the telephoto images captured by at least one telephoto camera into the wide-angle image, obtaining an integrated image that balances large-area shooting with detailed shooting of distant objects, providing a wide-range and deep-field image of the real environment, thus improving the reliability and accuracy of image monitoring.

[0166] The above is only one specific embodiment of the present invention, and any improvements made based on the concept of the present invention shall be considered within the scope of protection of the present invention.

Claims

1. A method for coordinated wide-angle and telephoto camera control, characterized in that, include: Identify and determine abnormal areas in wide-angle images captured by a wide-angle camera. Based on the contour features of the abnormal image area, the unreliable field of view shooting area of ​​the wide-angle camera is determined; Based on the relative positional relationship between the unbelievable field of view shooting area and the wide-angle camera end, at least one telephoto camera end capable of shooting the unbelievable field of view shooting area is activated; Based on the spatial distribution characteristics of the unreliable field of view shooting area, adjust the shooting state of the at least one telephoto camera end; The telephoto images captured by the at least one telephoto camera are fused into the wide-angle image to obtain an integrated image.

2. The wide-angle and telephoto collaborative camera control method as described in claim 1, characterized in that: Identify and determine abnormal areas in wide-angle images captured by a wide-angle camera. Based on the contour features of the abnormal image area, the unreliable field of view shooting area of ​​the wide-angle camera is determined, including: Based on motion detection data from the wide-angle camera, the duration range of shaking at the wide-angle camera is determined; based on the duration range of shaking, wide-angle images that are not affected by shaking are selected from all wide-angle images captured by the wide-angle camera. The image clarity status of the wide-angle image, which is not affected by shaking, is identified to determine the out-of-focus area of ​​the wide-angle image. Pixel contour recognition is performed on the out-of-focus area of ​​the wide-angle image to obtain the boundary contour features of the out-of-focus area; based on the boundary contour features and the transformation relationship between the shooting space coordinate system of the wide-angle camera and the space coordinate system of the real environment, the unreliable field of view shooting area of ​​the real environment by the wide-angle camera is determined.

3. The wide-angle and telephoto collaborative camera control method as described in claim 1, characterized in that: Based on the relative positional relationship between the unbelievable field of view shooting area and the wide-angle camera end, at least one telephoto camera end capable of shooting the unbelievable field of view shooting area is activated; Based on the spatial distribution characteristics of the unreliable field-of-view shooting area, adjusting the shooting state of the at least one telephoto camera includes: The relative distance and relative orientation between the untrusted field of view shooting area and the wide-angle camera are obtained. The relative distance and relative orientation are compared with the shooting focal length range and shooting field of view range of all telephoto cameras adjacent to the wide-angle camera. At least one telephoto camera that can shoot the untrusted field of view shooting area is determined, and a wake-up command is sent to the at least one telephoto camera. Based on the spatial distribution depth-of-field characteristics of the unreliable field-of-view shooting area in the real environment, the focal length of the at least one telephoto camera is adjusted for shooting the unreliable field-of-view shooting area.

4. The wide-angle and telephoto collaborative camera control method as described in claim 1, characterized in that: The telephoto images captured by the at least one telephoto camera are fused into the wide-angle image to obtain an integrated image, including: Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with the optimal image sharpness; Based on the boundary contour features and region size of the abnormal image area in the wide-angle image, the telephoto image with optimal image clarity is cropped and scaled and then merged into the wide-angle image to obtain an integrated image.

5. The wide-angle and telephoto collaborative camera control method as described in claim 4, characterized in that: Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with optimal image sharpness, including: Retrieve the reference ISO sensitivity of the telephoto camera and the actual ISO sensitivity of the telephoto camera; The sensitivity-affecting parameter In = ISOs / ISO is obtained by using the reference ISO sensitivity and the actual ISO sensitivity at the telephoto end; where ISOs represents the actual ISO sensitivity at the telephoto end; and ISO represents the reference ISO sensitivity. Retrieve the actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end; Aperture influence parameters are obtained by using the actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end; The aperture influence parameters are obtained using the following formula: Where Fn represents the aperture influence parameter; Fs represents the actual aperture value corresponding to the telephoto end; F0 represents the preset optimal sharpness aperture acquisition aperture influence parameter for the telephoto end; The actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end are retrieved, and the focal length influence parameters are obtained by using the actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end. The focal length influence parameter is obtained by the following formula: Where fn represents the focal length-affecting parameter; fs represents the actual shooting focal length corresponding to the telephoto end; fx represents the optimal focusing distance that is closer to the telephoto end; S represents the shutter speed corresponding to the current telephoto end; and S0 represents the reference shutter speed for ideal sharpness at the telephoto end. The sharpness judgment coefficient of the telephoto image is obtained by retrieving the sensitivity influence parameters, aperture influence parameters, and focal length influence parameters; The sharpness judgment coefficient is obtained by the following formula: Where L represents the sharpness judgment coefficient; w 01 w 02 and w 03 σ represents the weight values ​​corresponding to the sensitivity, aperture, and focal length influence parameters, respectively; P represents the gray-level entropy after normalization of the telephoto image; σ represents the gray-level standard deviation after normalization of the telephoto image; Z represents the noise variance after normalization of the telephoto image. The telephoto image corresponding to the maximum value of the sharpness judgment coefficient is taken as the telephoto image with the optimal image sharpness.

6. A wide-angle and telephoto collaborative camera control system, characterized in that, include: The wide-angle image recognition module is used to identify wide-angle images captured by a wide-angle camera and determine abnormal image areas in the wide-angle images; An unreliable field-of-view shooting area determination module is used to determine the unreliable field-of-view shooting area of ​​the wide-angle camera based on the contour features of the abnormal image area. The telephoto camera wake-up module is used to wake up at least one telephoto camera capable of shooting the unbelievable field of view shooting area based on the relative positional relationship between the unbelievable field of view shooting area and the wide-angle camera. A telephoto camera adjustment module is used to adjust the shooting state of at least one telephoto camera end based on the spatial distribution characteristics of the unreliable field of view shooting area. An image fusion module is used to fuse the telephoto image captured by the at least one telephoto camera end into the wide-angle image to obtain an integrated image.

7. The wide-angle and telephoto collaborative camera control system as described in claim 6, characterized in that: The wide-angle image recognition module is used to identify wide-angle images captured by a wide-angle camera and determine abnormal areas in the wide-angle images, including: Based on motion detection data from the wide-angle camera, the duration range of shaking at the wide-angle camera is determined; based on the duration range of shaking, wide-angle images that are not affected by shaking are selected from all wide-angle images captured by the wide-angle camera. The image clarity status of the wide-angle image, which is not affected by shaking, is identified to determine the out-of-focus area of ​​the wide-angle image. The unreliable field-of-view shooting region determination module is used to determine the unreliable field-of-view shooting region of the wide-angle camera based on the contour features of the abnormal image region, including: Pixel contour recognition is performed on the out-of-focus area of ​​the wide-angle image to obtain the boundary contour features of the out-of-focus area; based on the boundary contour features and the transformation relationship between the shooting space coordinate system of the wide-angle camera and the space coordinate system of the real environment, the unreliable field of view shooting area of ​​the real environment by the wide-angle camera is determined.

8. The wide-angle and telephoto collaborative camera control system as described in claim 6, characterized in that: The telephoto camera wake-up module is used to wake up at least one telephoto camera capable of shooting the unbelievable field of view area based on the relative positional relationship between the unbelievable field of view shooting area and the wide-angle camera, including: The relative distance and relative orientation between the untrusted field of view shooting area and the wide-angle camera are obtained. The relative distance and relative orientation are compared with the shooting focal length range and shooting field of view range of all telephoto cameras adjacent to the wide-angle camera. At least one telephoto camera that can shoot the untrusted field of view shooting area is determined, and a wake-up command is sent to the at least one telephoto camera. The telephoto camera adjustment module is used to adjust the shooting state of the at least one telephoto camera end based on the spatial distribution characteristics of the unreliable field of view shooting area, including: Based on the spatial distribution depth-of-field characteristics of the unreliable field-of-view shooting area in the real environment, the focal length of the at least one telephoto camera is adjusted for shooting the unreliable field-of-view shooting area.

9. The wide-angle and telephoto collaborative camera control system as described in claim 6, characterized in that: The image fusion module is used to fuse the telephoto images captured by the at least one telephoto camera end into the wide-angle image to obtain an integrated image, including: Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with the optimal image sharpness; Based on the boundary contour features and region size of the abnormal image area in the wide-angle image, the telephoto image with optimal image clarity is cropped and scaled and then merged into the wide-angle image to obtain an integrated image.

10. The wide-angle and telephoto collaborative camera control system as described in claim 9, characterized in that: Image sharpness identification is performed on all telephoto images captured by the at least one telephoto camera to determine the telephoto image with optimal image sharpness, including: Retrieve the reference ISO sensitivity of the telephoto camera and the actual ISO sensitivity of the telephoto camera; The sensitivity-affecting parameter In = ISOs / ISO is obtained by using the reference ISO sensitivity and the actual ISO sensitivity at the telephoto end; where ISOs represents the actual ISO sensitivity at the telephoto end; and ISO represents the reference ISO sensitivity. Retrieve the actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end; Aperture influence parameters are obtained by using the actual aperture value corresponding to the telephoto camera end and the preset optimal sharpness aperture for the telephoto end; The aperture influence parameters are obtained using the following formula: Where Fn represents the aperture influence parameter; Fs represents the actual aperture value corresponding to the telephoto end; F0 represents the preset optimal sharpness aperture acquisition aperture influence parameter for the telephoto end; The actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end are retrieved, and the focal length influence parameters are obtained by using the actual shooting focal length corresponding to the telephoto camera end and the optimal focusing distance that is closest to the telephoto end. The focal length influence parameter is obtained by the following formula: Where fn represents the focal length-affecting parameter; fs represents the actual shooting focal length corresponding to the telephoto end; fx represents the optimal focusing distance that is closer to the telephoto end; S represents the shutter speed corresponding to the current telephoto end; and S0 represents the reference shutter speed for ideal sharpness at the telephoto end. The sharpness judgment coefficient of the telephoto image is obtained by retrieving the sensitivity influence parameters, aperture influence parameters, and focal length influence parameters; The sharpness judgment coefficient is obtained by the following formula: Where L represents the sharpness judgment coefficient; w 01 w 02 and w 03 σ represents the weight values ​​corresponding to the sensitivity, aperture, and focal length influence parameters, respectively; P represents the gray-level entropy after normalization of the telephoto image; σ represents the gray-level standard deviation after normalization of the telephoto image; Z represents the noise variance after normalization of the telephoto image. The telephoto image corresponding to the maximum value of the sharpness judgment coefficient is taken as the telephoto image with the optimal image sharpness.

Images