Method, device and system for target tracking

Patent metadata

Field	Value
Publication number	US-10281554-B2
Application number	US-201515556891-A
Country	US
Kind code	B2
Filing date	Dec 16, 2015
Priority date	Mar 9, 2015
Publication date	May 7, 2019
Grant date	May 7, 2019

Abstract

The disclosure discloses a method, device and system for target tracking. Wherein, the method for target tracking includes that: Global Positioning System (GPS) information of a target object monitored by tracking equipment is acquired (S102); Pan/Tilt/Zoom (PTZ) coordinate information corresponding to the GPS information of the target object is obtained according to a pre-stored conversion relationship between GPS information and PTZ coordinate information (S104); and the tracking equipment is regulated to control the tracking equipment to monitor the target object according to the PTZ coordinate information of the target object (S106). The problem of inaccuracy of a monitoring result of a method for monitoring a tracking target in the conventional art is solved.

First claim

What is claimed is:

1. A method for target tracking, comprising:
acquiring Global Positioning System (GPS) information of a target object monitored by tracking equipment, wherein the target object is positioned within a monitoring range of the tracking equipment;
obtaining Pan/Tilt/Zoom (PTZ) coordinate information corresponding to the GPS information of the target object according to a pre-stored conversion relationship between GPS information and PTZ coordinate information, wherein the pre-stored conversion relationship between the GPS information and the PTZ coordinate information is a mutual conversion relationship between GPS information and PTZ coordinate information of any point in a visual range of the tracking equipment; and
regulating the tracking equipment according to the PTZ coordinate information of the target object to control the tracking equipment to monitor the target object.

2. The method according to claim 1 , before obtaining the PTZ coordinate information corresponding to the GPS information of the target object according to the pre-stored conversion relationship between the GPS information and the PTZ coordinate information, further comprising:
storing the conversion relationship between the GPS information and the PTZ coordinate information, wherein the conversion relationship comprises: a first conversion relationship between the GPS information and ground coordinate information, a second conversion relationship between the ground coordinate information and tracking equipment coordinate information and a third conversion relationship between the PTZ coordinate information and the tracking equipment coordinate information,
wherein the ground coordinate information is a coordinate value in a first two-dimensional rectangular coordinate system, the first two-dimensional rectangular coordinate system adopts any point on a ground-based plane as a coordinate origin, the tracking equipment coordinate information is a coordinate value in a second two-dimensional rectangular coordinate system, and the second two-dimensional rectangular coordinate system adopts an upright tube of the tracking equipment as a coordinate origin.

3. The method according to claim 2 , wherein obtaining the PTZ coordinate information corresponding to the GPS information of the target object according to the pre-stored conversion relationship between the GPS information and the PTZ coordinate information comprises:
converting the currently acquired GPS information of the target object into ground coordinate information corresponding to the target object according to the first conversion relationship;
converting the ground coordinate information, obtained by conversion, corresponding to the target object into tracking equipment coordinate information corresponding to the target object according to the second conversion relationship; and
converting the tracking equipment coordinate information, obtained by conversion, corresponding to the target object into the PTZ coordinate information corresponding to the target object according to the third conversion relationship.

4. The method according to claim 2 , wherein a step of acquiring the first conversion relationship between the GPS information and the ground coordinate information before storing the conversion relationship between the GPS information and the PTZ coordinate information comprises:
establishing the first two-dimensional rectangular coordinate system, wherein abscissa and ordinate axes of the first two-dimensional rectangular coordinate system point to any two directions in due east, due west, due south and due north respectively;
reading GPS information of the coordinate origin of the first two-dimensional rectangular coordinate system, and reading GPS information of a monitoring point in a monitoring picture of the tracking equipment, the GPS information comprising: latitude data and longitude data; and
creating a corresponding relationship between the GPS information of the monitoring point and a coordinate value of the monitoring point in the first two-dimensional rectangular coordinate system to acquire the first conversion relationship,
wherein the first conversion relationship is configured to represent a corresponding relationship between a latitude data difference value and an abscissa value, a longitude data difference value and a ordinate value, wherein the latitude data difference and the longitude data difference value are data difference values between the monitoring point and the coordinate origin, and the abscissa value and the ordinate value are coordinate values of the monitoring point in the first two-dimensional rectangular coordinate system.

5. The method according to claim 4 , wherein the corresponding relationship between the GPS information of the monitoring point and the coordinate value of the monitoring point in the first two-dimensional rectangular coordinate system is calculated according to the following formula:
P T =( P Tx ,P Ty )=(( N T −N 0 ),( E 0 −E T )×cos( N 0 /180×π)),

where P T is the coordinate value of the monitoring point in the first two-dimensional rectangular coordinate system, P Tx , is the abscissa value of the monitoring point in the first two-dimensional rectangular coordinate system, and P Ty is the ordinate value of the monitoring point in the first two-dimensional rectangular coordinate system, N 0 is the latitude data in the GPS information of the coordinate origin, and E 0 is the longitude data in the GPS information of the coordinate origin, and N T is the latitude data in the GPS information of the monitoring point, and E T is the longitude data in the GPS information of the monitoring point.

6. The method according to claim 2 , wherein a step of acquiring the third conversion relationship between the PTZ coordinate information and the tracking equipment coordinate information before storing the conversion relationship between the GPS information and the PTZ coordinate information comprises:
establishing the second two-dimensional rectangular coordinate system, wherein directions of abscissa and ordinate axes of the second two-dimensional rectangular coordinate system is a direction, to which the tracking equipment points when a horizontal rotation angle difference of the tracking equipment is 90° respectively;
reading PTZ coordinate information of a monitoring point in a picture of the tracking equipment; and
creating a corresponding relationship between the PTZ coordinate information of the monitoring point and a coordinate value of the monitoring point in the second two-dimensional rectangular coordinate system, so as to acquire the third conversion relationship.

7. The method according to claim 6 , wherein the corresponding relationship between the PTZ coordinate information of the monitoring point and the coordinate value of the monitoring point in the second two-dimensional rectangular coordinate system is calculated according to the following formula:
Q T =( Q Tx ,Q Ty )=(1/tan(φ T/ 180×π)×sin((θ T − 74 y )/180×π), 1/tan(φ T/ 180×π)×cos((θ T − 74 y )/180×π),

where Q T is the coordinate value of the monitoring point in the second two-dimensional rectangular coordinate system, Q Tx , is an abscissa value of the monitoring point in the second two-dimensional rectangular coordinate system, and Q Ty is an ordinate value of the monitoring point in the second two-dimensional rectangular coordinate system, θ T is a P parameter of the monitoring point,θ y ), is a horizontal rotation angle of the tracking equipment when the tracking equipment points to the vertical axis of the second two-dimensional rectangular coordinate system, and φ T is a T parameter of the monitoring point.

8. The metho

Assignees

• Hangzhou Hikvision Digital Tec

Inventors

• Wang Chao
• Quan Xiaochen
• Ren Ye
• Wang Peng
• Zhang Wencong
• Cai Weiwei
• Pu Shiliang

Classifications

• H04N23/695

  Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects · CPC title

• G01S3/7864 Primary

  T.V. type tracking systems · CPC title

• G06T7/20

  Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) · CPC title

• G01S19/26

  involving a sensor measurement for aiding acquisition or tracking · CPC title

• H04N5/23299

  Electricity · mapped topic