CN111383243B

CN111383243B - Method, device, equipment and storage medium for tracking target object

Info

Publication number: CN111383243B
Application number: CN201811623119.9A
Authority: CN
Inventors: 程亚峰; 郑阳
Original assignee: Hangzhou Hikmicro Sensing Technology Co Ltd
Current assignee: Hangzhou Hikmicro Sensing Technology Co Ltd
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2023-04-28
Anticipated expiration: 2038-12-28
Also published as: WO2020135084A1; CN111383243A

Abstract

The invention provides a method, a device, equipment and a storage medium for tracking a target object, and relates to the field of communication. The method comprises the following steps: when the first monitoring equipment detects a target object, acquiring first position information of the target object; when the first monitoring device determines that the target object is in the appointed area of the controlled second tracking device based on the first position information, the control of the second tracking device is canceled, and the second tracking device automatically tracks the target object; and when the first monitoring device determines that the target object is not in the designated area based on the first position information, controlling the second tracking device and/or the first tracking device to track the target object. The problem that the second tracking device cannot accurately track the target object in the designated area under the control of the first monitoring device is effectively solved, and tracking accuracy is improved.

Description

Method, device, equipment and storage medium for tracking target object

Technical Field

The present invention relates to the field of communications, and in particular, to a method, apparatus, device, and storage medium for tracking a target object.

Background

In recent years, with the development of scientific technology, intelligent tracking technology is also receiving more and more attention from people in the field of communication, and is applied in a wide range of scenes, such as large exhibition halls, conference halls, high-grade living in communities and dangerous traffic sections. The gun-ball linkage tracking technology is an advanced intelligent tracking technology, which takes a gun camera as an initiating point, performs intelligent analysis on a target object in a monitoring area, sends the position information of the target object to be monitored to a ball camera, and directs the ball camera to track and monitor the target object.

In a system for controlling one or more cameras by a camera, when the camera monitors a target object in a monitoring area, first coordinate information of the target object in the camera is acquired, the first coordinate information is converted into second coordinate information of the target object in the camera, and a tracking instruction is sent to the camera, wherein the tracking instruction carries the second coordinate information of the target object. And the dome camera receives the tracking instruction and tracks the target object according to the second coordinate information of the target object.

In the method, the ball machine is controlled by the gun machine to track the target object all the time, however, in certain areas of the monitoring area, the second coordinate information of the target object obtained by the gun machine through conversion is distorted, so that the ball machine cannot track the target object according to the second coordinate information, and the tracking accuracy is low.

Disclosure of Invention

The invention provides a method, a device, equipment and a storage medium for tracking a target object, which can improve the tracking accuracy.

According to a first aspect of an embodiment of the present invention, there is provided a method of tracking a target object, including:

when a first monitoring device detects a target object, acquiring first position information of the target object;

when the first monitoring device determines that the target object is in a designated area of a controlled second tracking device based on the first position information, canceling control of the second tracking device, and automatically tracking the target object by the second tracking device;

when the first monitoring device determines that the target object is not in the designated area based on the first position information, controlling the second tracking device and/or the first tracking device to track the target object;

the geographic positions of the first monitoring device and the second tracking device are the same, and the geographic positions of the first monitoring device and the second tracking device are different.

In one possible implementation, when the first monitoring device determines that the target object is not in the specified area based on the first location information, controlling the second tracking device and/or the first tracking device includes:

When the first monitoring device determines that the target object is not located in the designated area and is located within the monitoring area of the first tracking device and the monitoring area of the second tracking device based on the first position information, the second tracking device and the first tracking device are controlled so that the second tracking device and the first tracking device track the target object.

In another possible implementation manner, when the first monitoring device determines that the target object is not in the specified area based on the first location information, controlling the second tracking device and/or the first tracking device includes:

when the first monitoring device determines that the target object is not in the designated area based on the first position information, and the target object is only in a monitoring area of the first tracking device;

the first monitoring device controls the first tracking device so that the first tracking device tracks the target object.

When the first monitoring device determines that the target object is not in the designated area based on the first position information, and the target object is only in the monitoring area of the second tracking device;

the first monitoring device controls the second tracking device so that the second tracking device tracks the target object.

In another possible implementation, the method further includes:

when the first monitoring device determines that the target object is in a monitoring area of a second monitoring device based on the first position information, the first monitoring device transmits control authority of the second tracking device to the second monitoring device, and the second monitoring device controls the second tracking device so that the second tracking device tracks the target object;

wherein the second monitoring device is the same geographic location as the second tracking device.

In another possible implementation manner, before the first monitoring device controls the first tracking device, the method further includes:

the first monitoring device sends a first control request to the first tracking device, wherein the first control request carries a device identifier of the first monitoring device;

When the first monitoring device receives a first confirmation response corresponding to the first control request returned by the first tracking device according to the device identifier, the first monitoring device determines to obtain the authority for controlling the first tracking device according to the first confirmation response.

In another possible implementation manner, when the first monitoring device detects a target object, acquiring first position information of the target object includes:

when the first monitoring device detects the target object, acquiring coordinate information of the target object in a coordinate system of the first monitoring device to obtain first coordinate information;

the first monitoring device uses the first coordinate information as the first position information.

In another possible implementation manner, after the first monitoring device obtains the first location information of the target object, the method further includes:

the first monitoring equipment determines coordinate values of the target object in the horizontal direction in the coordinate system of the first monitoring equipment from the first coordinate information to obtain first coordinate values;

when the first coordinate value is larger than a first coordinate threshold value and smaller than a second coordinate threshold value, the first monitoring device determines that the target object is in the appointed area, the first coordinate threshold value is the minimum coordinate value of the distortion area of the second tracking device in the horizontal direction, and the second coordinate threshold value is the maximum coordinate value of the distortion area of the second tracking device in the horizontal direction;

When the first coordinate value is not greater than the first coordinate threshold value or not less than the second coordinate threshold value, the first monitoring device determines that the target object is not in the designated area.

when the first coordinate value is larger than a third coordinate threshold value and smaller than a fourth coordinate threshold value, the first monitoring device determines that the target object is in the appointed area, the third coordinate threshold value is the minimum coordinate value of the distortion area of the tracking device in the horizontal direction, and the fourth coordinate threshold value is the minimum coordinate value of the coordinate system of the second monitoring device in the horizontal direction;

when the first coordinate value is not greater than the third coordinate threshold or not less than the fourth coordinate threshold, the first monitoring device determines that the target object is not in the designated area.

In another possible implementation manner, the first monitoring device determines that the target object is in the specified area, and cancels control of the second tracking device, including:

the first monitoring equipment determines the moving track of the target object;

when the movement track represents that the target object moves from the monitoring area of the second monitoring device to the monitoring area of the first monitoring device, under the condition that the first monitoring device determines that the target object is in the designated area, control of the second tracking device is canceled.

In another possible implementation manner, the first monitoring device controls the first tracking device to enable the first tracking device to track the target object, including:

the first monitoring equipment converts the first position information into second position information, wherein the first position information is the position information of the target object in the first monitoring equipment, and the second position information is the position information of the target object in the first tracking equipment;

the first monitoring device sends a first tracking instruction to the first tracking device, the first tracking instruction carries the second position information, and the first tracking device tracks the target object based on the second position information.

In another possible implementation manner, the first monitoring device controls the second tracking device to enable the second tracking device to track the target object, including:

the first monitoring device converts the first position information into third position information, wherein the first position information is the position information of the target object in the first monitoring device, and the third position information is the position information of the target object in the second tracking device;

the first monitoring device sends a second tracking instruction to the second tracking device, the second tracking instruction carries the third position information, and the second tracking device tracks the target object based on the third position information.

According to a second aspect of an embodiment of the present invention, there is provided another method of tracking a target object, including:

when the tracked target object is in a designated area of second tracking equipment, the second tracking equipment automatically tracks the target object;

when the target object is not in the appointed area, the second tracking device tracks the target object based on the control of the first monitoring device or the second monitoring device;

The first monitoring device and the second tracking device are different in geographic position, and the second monitoring device and the second tracking device are identical in geographic position.

In another possible implementation manner, the second tracking device tracks the target object based on the control of the first monitoring device or the second monitoring device, including:

and when the target object is in the monitoring area of the first monitoring device, the second tracking device tracks the target object based on the control of the first monitoring device.

and when the target object is in the monitoring area of the second monitoring equipment, the second tracking equipment tracks the target object based on the control of the second monitoring equipment.

In another possible implementation manner, before the second tracking device tracks the target object based on the control of the second monitoring device, the method further includes:

The second tracking equipment receives a second control request sent by the second monitoring equipment, wherein the second control request carries an equipment identifier of the second monitoring equipment;

and when the second monitoring equipment has control right for preferentially controlling the second tracking equipment compared with the first monitoring equipment, the second tracking equipment returns a second confirmation response corresponding to the second control request to the second monitoring equipment according to the equipment identification, and the second confirmation response is used for indicating the second monitoring equipment to control the second tracking equipment.

In another possible implementation manner, the second tracking device tracks the target object based on the control of the first monitoring device, including:

the second tracking device receives a second tracking instruction sent by the first monitoring device, wherein the second tracking instruction carries third position information, and the third position information is the position information of the target object in the second tracking device;

the second tracking device tracks the target object based on the third position information.

In another possible implementation manner, the second tracking device tracks the target object based on control of the second monitoring device, including:

The second tracking device receives a third tracking instruction sent by the second monitoring device, wherein the third tracking instruction carries third position information, and the third position information is the position information of the target object in the second tracking device;

According to a third aspect of embodiments of the present invention, there is provided an apparatus for tracking a target object, the apparatus comprising:

the acquisition module is configured to acquire first position information of a target object when the target object is detected;

a first determination module configured to cancel control of a second tracking device when it is determined that the target object is in a designated area of the second tracking device being controlled based on the first position information, the target object being automatically tracked by the second tracking device;

a second determining module configured to control the second tracking device and/or the first tracking device to track the target object when it is determined that the target object is not in the specified area based on the first position information;

The geographic position of the local end is the same as that of the first tracking equipment, and the geographic position of the local end is different from that of the second tracking equipment.

In one possible implementation, the second determining module is further configured to control the second tracking device and the first tracking device to cause the second tracking device and the first tracking device to track the target object when it is determined that the target object is not in the specified area and is located within the monitoring area of the first tracking device and the monitoring area of the second tracking device based on the first position information.

In another possible implementation manner, the second determining module is further configured to determine that the target object is not in the specified area based on the first location information, and that the target object is only in a monitoring area of the first tracking device;

and controlling the first tracking device to enable the first tracking device to track the target object.

In another possible implementation manner, the second determining module is further configured to determine that the target object is not in the specified area based on the first location information, and that the target object is only in a monitoring area of the second tracking device;

And controlling the second tracking equipment to enable the second tracking equipment to track the target object.

In another possible implementation, the apparatus further includes:

a third determining module configured to, when determining that the target object is within a monitoring area of a second monitoring device based on the first position information, hand over control authority of the second tracking device to the second monitoring device, and control the second tracking device by the second monitoring device so that the second tracking device tracks the target object;

In another possible implementation, the apparatus further includes:

the sending module is configured to send a first control request to the first tracking equipment, wherein the first control request carries an equipment identifier of a home terminal;

and the first receiving module is configured to determine to obtain the authority to control the first tracking device according to the first confirmation response when receiving the first confirmation response corresponding to the first control request returned by the first tracking device according to the device identifier.

In another possible implementation manner, the obtaining module is further configured to obtain, when the target object is detected, coordinate information of the target object in a local coordinate system, so as to obtain first coordinate information;

and taking the first coordinate information as the first position information.

In another possible implementation, the apparatus further includes:

a fourth determining module configured to determine a coordinate value of the target object in a horizontal direction in a coordinate system of the local end from the first coordinate information, so as to obtain a first coordinate value;

a fifth determining module configured to determine that the target object is in the specified region when the first coordinate value is greater than a first coordinate threshold, which is a minimum coordinate value of a distortion region of the second tracking device in a horizontal direction, and is less than a second coordinate threshold, which is a maximum coordinate value of the distortion region of the second tracking device in a horizontal direction;

a sixth determination module configured to determine that the target object is not in the specified region when the first coordinate value is not greater than the first coordinate threshold or not less than the second coordinate threshold.

In another possible implementation, the apparatus further includes:

a seventh determining module, configured to determine a coordinate value of the target object in a horizontal direction in a coordinate system of the local end from the first coordinate information, so as to obtain a first coordinate value;

an eighth determining module configured to determine that the target object is in the specified region when the first coordinate value is greater than a third coordinate threshold, which is a minimum coordinate value of a distortion region of the tracking device in a horizontal direction, and less than a fourth coordinate threshold, which is a minimum coordinate value of a coordinate system of a second monitoring device in a horizontal direction;

a ninth determination module configured to determine that the target object is not in the specified region when the first coordinate value is not greater than the third coordinate threshold or not less than the fourth coordinate threshold.

In another possible implementation manner, the first determining module is further configured to determine a movement track of the target object;

when the moving track represents that the target object moves from the monitoring area of the second monitoring device to the monitoring area of the local end, under the condition that the target object is determined to be in the designated area, the control of the second tracking device is canceled.

In another possible implementation manner, the second determining module is further configured to convert the first location information into second location information, where the first location information is location information of the target object in the home terminal, and the second location information is location information of the target object in the first tracking device;

and sending a first tracking instruction to the first tracking device, wherein the first tracking instruction carries the second position information, and the first tracking device tracks the target object based on the second position information.

In another possible implementation manner, the second determining module is further configured to convert the first location information into third location information, where the first location information is location information of the target object in the home terminal, and the third location information is location information of the target object in the second tracking device;

and sending a second tracking instruction to the second tracking device, wherein the second tracking instruction carries the third position information, and the second tracking device tracks the target object based on the third position information.

According to a fourth aspect of an embodiment of the present invention, there is provided another apparatus for tracking a target object, including:

The first tracking module is configured to automatically track the target object when the tracked target object is in a specified area of the local end;

the second tracking module is configured to track the target object based on the control of the first monitoring device or the second monitoring device when the target object is not in the designated area;

the first monitoring device and the local terminal are different in geographic position, and the second monitoring device and the local terminal are the same in geographic position.

In another possible implementation manner, the second tracking module is further configured to track the target object based on control of the first monitoring device when the target object is in the monitoring area of the first monitoring device.

In another possible implementation manner, the second tracking module is further configured to track the target object based on control of the second monitoring device when the target object is in the monitoring area of the second monitoring device.

In another possible implementation, the apparatus further includes:

the second receiving module is configured to receive a second control request sent by the second monitoring device, wherein the second control request carries a device identifier of the second monitoring device;

And the return module is configured to return a second confirmation response corresponding to the second control request to the second monitoring equipment according to the equipment identifier when the second monitoring equipment has control right for preferentially controlling the second tracking equipment compared with the first monitoring equipment, wherein the second confirmation response is used for indicating the second monitoring equipment to control the local terminal.

In another possible implementation manner, the second tracking module is further configured to receive a second tracking instruction sent by the first monitoring device, where the second tracking instruction carries third location information, and the third location information is location information of the target object in a home terminal;

and tracking the target object based on the third position information.

In another possible implementation manner, the second tracking module is further configured to receive a third tracking instruction sent by the second monitoring device, where the third tracking instruction carries third location information, and the third location information is location information of the target object in the home terminal;

and tracking the target object based on the third position information.

According to a fifth aspect of an embodiment of the present invention, there is provided a monitoring apparatus including:

a processor and a memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions loaded and executed by the processor to perform the operations performed in the method of tracking a target object according to the first aspect.

According to a sixth aspect of embodiments of the present invention, there is provided a tracking apparatus including:

a processor and a memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions loaded and executed by the processor to implement the operations performed in the method of tracking a target object according to the second aspect.

According to a seventh aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the program, the set of codes, or the set of instructions being loaded and executed by a processor to implement the operations performed in any of the methods of tracking a target object described in the first aspect.

According to an eighth aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the program, the set of codes, or the set of instructions being loaded and executed by a processor to implement the operations performed in any of the methods of tracking a target object described in the second aspect.

The technical scheme provided by the embodiment of the invention can comprise the following beneficial effects:

when the first monitoring equipment detects a target object, acquiring first position information of the target object; when the first monitoring device determines that the target object is in the appointed area of the controlled second tracking device based on the first position information, the control of the second tracking device is canceled, and the second tracking device automatically tracks the target object; and when the first monitoring device determines that the target object is not in the designated area based on the first position information, controlling the second tracking device and/or the first tracking device to track the target object. The problem that the second tracking device cannot accurately track the target object in the designated area under the control of the first monitoring device is effectively solved, and the tracking accuracy is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a schematic illustration of an application scenario in accordance with some exemplary embodiments of the present invention;

FIG. 2 is a schematic diagram of another application scenario illustrated in accordance with some exemplary embodiments of the present invention;

FIG. 3 is a flow chart illustrating a method of tracking a target object according to some exemplary embodiments of the invention;

FIG. 4 is a schematic diagram illustrating another method of tracking a target object according to some exemplary embodiments of the invention;

FIG. 5 is a flow chart illustrating another method of tracking a target object according to some exemplary embodiments of the invention;

FIG. 6 is a flowchart illustrating another method of tracking a target object according to some exemplary embodiments of the invention;

FIG. 7 is a schematic diagram illustrating another method of tracking a target object according to some exemplary embodiments of the invention;

FIG. 8 is a flowchart illustrating another method of tracking a target object according to some exemplary embodiments of the invention;

FIG. 9 is a flowchart illustrating another method of tracking a target object according to some exemplary embodiments of the invention;

fig. 10 is a block diagram illustrating an apparatus for tracking a target object according to some exemplary embodiments of the present invention.

Fig. 11 is a block diagram illustrating another apparatus for tracking a target object according to some exemplary embodiments of the present invention.

Fig. 12 is a block diagram illustrating a structure of an apparatus according to some exemplary embodiments of the present invention.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.

Fig. 1 is a schematic diagram of an application scenario of an embodiment of the present invention, where the implementation environment includes a first monitoring device 101, a second monitoring device 102, a first tracking device 201, and a second tracking device 202. The first monitoring device 101 is connected to the first tracking device 201 and the second tracking device 202 in a wired or wireless manner, so that the first monitoring device 101 controls the first tracking device 201 and/or the second tracking device 202 to monitor the target object in the first monitoring area. The second monitoring device 102 is connected to the second tracking device 202 in a wired or wireless manner, so that the second monitoring device 102 controls the second tracking device 202 to monitor the target object in the second monitoring area.

The first monitoring device 101 may be arranged on a first stand, on which the first tracking device 201 is also arranged; the second monitoring device 102 and the second tracking device 202 are disposed on a second support. The height of the first bracket and the height of the second bracket can be the same or different. In addition, the height of the first bracket and the height of the second bracket can be set and changed according to the needs, and in the embodiment of the invention, the height is not particularly limited; for example, the first bracket and the second bracket have the same height, and are 6 meters or 7 meters. In addition, the distance between the first bracket and the second bracket can be set and changed according to the needs, and in the embodiment of the present invention, the distance is not particularly limited; for example, the distance between the first bracket and the second bracket is 300 meters or 350 meters, etc.

The first monitoring device 101 and the second monitoring device 102 may be any device having a detection function; for example, the first monitoring device 101 and the second monitoring device 102 may be a high-definition camera or a rifle bolt. The first tracking device 201 and the second tracking device 202 may be any device having a tracking function; for example, the first tracking device 201 and the second tracking device 202 may be ball players. The target object may be a person, a vehicle, an animal, or the like. In the embodiment of the present invention, the first monitoring device 101, the second monitoring device 102, the first tracking device 201, the second tracking device 202, and the target object are not particularly limited.

The monitoring area of the first monitoring device 101 is a first monitoring area, and the monitoring area of the second monitoring device 102 is a second monitoring area. The first monitoring area and the second monitoring area may be two areas that do not overlap, and the first monitoring area and the second monitoring area may also have two areas that overlap.

The first monitoring device 101 controls the first tracking device 201 to track and monitor the target object in the first monitoring area, and the second monitoring device 102 controls the second tracking device 202 to track the target object in the second monitoring area. The first monitoring device 101 may also control the second tracking device 202 to track the target object within the first monitoring area when the second tracking device 202 is in an idle state. When the first monitoring device 101 controls the second tracking device 202 to track the target object, the position information of the target object is transmitted to the second tracking device 202, and the second tracking device 202 tracks according to the position information. The monitoring area of the first tracking device and the monitoring area of the second tracking device may be two monitoring areas which are independent of each other and do not intersect, or may have two monitoring areas of overlapping portions.

In a specified area of the first monitoring area, the first monitoring device converts the first position information of the target object into second position information in the second tracking device, when the second tracking device tracks the target object in the specified area in a circular area with a certain distance as a radius and with a center point of the monitoring area of the second tracking device as a center, the target object moves a small distance, the second tracking device needs to rotate a larger angle, and due to sensitivity limitation of the second tracking device, the coordinate distortion of the second position information obtained by the second tracking device 202, that is, the target object is not in the coordinate position of the second information, so that the second tracking device 202 cannot accurately track the target object, and the specified area is a distortion area of the second tracking device 202.

In an embodiment of the present invention, when the target object is in the specified area, the second tracking device 202 automatically tracks the target object; when the target object is not in the designated area, the first monitoring device 101 controls the first tracking device 201 and/or the second tracking device 202 to track the target object, or the second monitoring device 102 controls the second tracking device 202 to track the target object.

In fig. 1, an application scenario including two monitoring devices and two tracking devices is illustrated as an example, and in an embodiment of the present invention, the application scenario is not limited to two monitoring devices and two tracking devices. The application scene can also comprise a plurality of monitoring devices and a plurality of tracking devices. Fig. 2 is a schematic diagram of another application scenario of an embodiment of the present invention, in which a plurality of monitoring devices 10 and a plurality of tracking devices 20 are included. For each monitoring device 10, the monitoring device 10 is connected to at least one tracking device 20 controlled by a wired or wireless manner, so that the monitoring device 10 controls the at least one tracking device 20 to monitor a target object in a monitoring area.

Wherein one tracking device 20 may be controlled by one monitoring device 10, or may be controlled by a plurality of monitoring devices 10 at the same time. Wherein, when one tracking device 20 is simultaneously controlled by a plurality of monitoring devices 10, the tracking device 20 can set a control authority; any monitoring device 10 of the plurality of monitoring devices 10 can control the tracking device 20 when the tracking device 20 is in an idle state; when the tracking device 20 is in the tracking state, the tracking device 20 is preferentially controlled by the monitoring device 10 having control authority.

Fig. 3 is a flow chart illustrating a method of tracking a target object according to some exemplary embodiments of the invention. The method is applied to monitoring equipment and used for solving the problem that the tracking equipment cannot accurately track the target object in a designated area, and comprises the following steps:

in step 301, when a target object is detected, a first monitoring device acquires first location information of the target object.

Referring to fig. 4, the target object 205 is a person, the first monitoring device 101 is a first rifle bolt, and the second tracking device 202 is a second ball machine. The personnel are in a first monitoring area of the first monitoring equipment, and the first rifle bolt acquires first position information of the personnel, wherein the first position information is coordinate information of the personnel in the first rifle bolt. The first rifle bolt divides the first monitoring area into a plane rectangular coordinate system, x represents the horizontal coordinate, namely the horizontal coordinate, the direction is pointed to the second ball machine direction by the first rifle bolt direction, y represents the vertical coordinate, namely the coordinate vertical to the horizontal direction, and the monitoring starting position of the first rifle bolt is the original point coordinate.

And 302, when the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first position information, canceling the control of the second tracking device, and automatically tracking the target object by the second tracking device.

And the first gun camera determines the position of the person based on the first position information of the person, and when the person is in a designated area, namely a distortion area, of the second dome camera, the first gun camera cancels the control right of the second dome camera, and the second dome camera uses an ATK (automatic Track) mode to track the person.

And 303, when the first monitoring device determines that the target object is not in the designated area based on the first position information, controlling the second tracking device and/or the first tracking device to track the target object.

The first rifle bolt determines an area where the person is located based on first position information of the person, and when the person is not in a designated area of the second ball machine, the first ball machine and/or the second ball machine are controlled to track the person, so that the first ball machine can be independently controlled to track the person, the second ball machine can be independently controlled to track the person, and the first ball machine and the second ball machine can be simultaneously controlled to track the person together.

The geographic locations of the first monitoring device and the first tracking device are the same, and the geographic locations of the monitoring device and the second tracking device are different. For example, the first monitoring device and the first tracking device are mounted on a first bracket, and the second monitoring device and the second tracking device are mounted on a second bracket.

Fig. 5 is a flowchart illustrating another method of tracking a target object according to some exemplary embodiments of the invention. The method is applied to tracking equipment and is used for solving the problem that the tracking equipment cannot accurately track a target object in a designated area, and the method comprises the following steps:

in step 501, when the tracked target object is in the designated area of the second tracking device, the second tracking device automatically tracks the target object.

Referring to fig. 4, the target object 205 is a person, the first monitoring device 101 is a first rifle bolt, and the second tracking device 202 is a second ball machine. The second dome camera uses the ATK mode to track the person when the person being tracked is in a designated area, i.e., a distorted area, of the second dome camera.

And step 502, when the target object is not in the specified area, the second tracking device tracks the target object based on the control of the first monitoring device or the second monitoring device.

And when the personnel are not in the designated area, the second ball machine tracks the personnel under the control of the first gun machine or the second gun machine.

The second tracking equipment automatically tracks the target object when the target object is in the designated area; and when the target object is not in the designated area, the second tracking device tracks the target object based on the control of the first monitoring device or the second monitoring device. The problem that the second tracking device cannot accurately track the target object in the designated area under the control of the first monitoring device is effectively solved, and the tracking accuracy is improved.

Fig. 6 is a flowchart illustrating another method of tracking a target object according to some exemplary embodiments of the invention. The method comprises the following steps:

in step 601, when the first monitoring device detects the target object, the first monitoring device acquires first position information of the target object.

In this embodiment, the first monitoring device may be a high-definition camera, a gun camera, or other monitoring devices capable of monitoring the target object, which is not limited in this embodiment. The first monitoring device has a first monitoring area, which is an effective monitoring area of the first monitoring device. The target object may be an object to be monitored such as a person, a vehicle, or an animal, and is not limited in this embodiment.

When the first monitoring device detects the target object, the first monitoring device obtains first position information of the target object according to the geographic position of the target object. In one possible implementation, the first monitoring device determines a distance between the target object and the first monitoring device, and uses the distance as the first location information.

In another possible implementation manner, the first monitoring device obtains coordinate information of the target object in a coordinate system of the first monitoring device, obtains first coordinate information, and uses the first coordinate information as the first position information. The first monitoring device includes coordinate system information, for example, the first monitoring area is divided into a plane rectangular coordinate system, x represents an abscissa, y represents an ordinate, a monitoring start position of the first monitoring device is an origin coordinate, and according to the plane rectangular coordinate system, a target object in the first monitoring area corresponds to the first coordinate information, the first monitoring device uses the first coordinate information as the first position information, and the first position information is stored in the first monitoring device.

For example, referring to fig. 4, the target object 205 is a person, the first monitoring device 101 is a first bolt face, and the second tracking device 202 is a second ball face. (Xa, ya) represents first position information of the person in the first bolt face.

In step 602, the first monitoring device determines, based on the first location information, whether the target object is in a specified area.

The specified area is a specified area of the second tracking device, and in one possible implementation manner, the specified area may be a distortion area of the second tracking device, and accordingly, this step may be implemented in a first implementation manner. In another possible implementation manner, the designated area may be a distortion area of the second tracking device and an area between the distortion area and the second monitoring area, and accordingly, the step may be implemented by a second implementation manner. The second monitoring area is an effective monitoring area of the second monitoring device.

For the first implementation, this step may be:

the first monitoring device determines a first coordinate value of the target object based on the first position information, wherein the first coordinate value is a coordinate value of the target object in a horizontal direction of the first monitoring device; when the first coordinate value is greater than a first coordinate threshold value and less than a second coordinate threshold value, determining that the target object is in the designated area, wherein the first coordinate threshold value is a minimum coordinate value of a distortion area of the second tracking device in the horizontal direction, and the second coordinate threshold value is a maximum coordinate value of the distortion area of the second tracking device in the horizontal direction; and when the first coordinate value is not greater than the first coordinate threshold value or not less than the second coordinate threshold value, determining that the target object is not in the designated area.

For example, referring to fig. 7, the first monitoring device 101 is a first bolt face, the second monitoring device 102 is a second bolt face, the first tracking device 201 is a first ball face, the second tracking device 202 is a second ball face, and the target object 205 is a person. The first rifle bolt divides the first monitoring area into a plane rectangular coordinate system, x represents an abscissa, namely a coordinate in a horizontal direction, the direction of the first rifle bolt points to the direction of the ball machine, y represents an ordinate, namely a coordinate perpendicular to the horizontal direction, and the monitoring starting position of the first monitoring device is an origin coordinate. The first bolt face determines a first coordinate value of the person based on first position information (Xa, ya) of the person, the first coordinate value being a coordinate value of the person in a horizontal direction of the first bolt face. The horizontal coordinate value of the monitoring starting position of the first gun camera is 0, the horizontal coordinate value of the person is Xa, and then the first coordinate value is Xa. The coordinate value of the second dome camera in the horizontal direction is larger than a first coordinate threshold Xp, the coordinate value of the second dome camera in the horizontal direction is smaller than a designated area of a second coordinate threshold Xq, the target cannot be accurately tracked by adjusting the monitoring angle of the second dome camera, the designated area is a distorted area of the second dome camera, the first coordinate threshold Xp is a minimum coordinate value of the distorted area of the second tracking device in the horizontal direction, and the second coordinate threshold Xq is a maximum coordinate value of the distorted area of the second tracking device in the horizontal direction. When the first coordinate value Xa is greater than the first coordinate threshold Xp and less than the second coordinate threshold Xq, the first bolt face determines that the person is in the designated area; when the first coordinate value Xa is not greater than the first coordinate threshold Xp or not less than the second coordinate threshold Xq, the first bolt face determines that the person is not in the designated area.

For the second implementation, this step may be:

the first monitoring device determines a first coordinate value of the target object based on the first position information, wherein the first coordinate value is a coordinate value of the target object in a horizontal direction of the first monitoring device; when the first coordinate value is greater than a third coordinate threshold value and smaller than a fourth coordinate threshold value, determining that the target object is in the designated area, wherein the third coordinate threshold value is the minimum coordinate value of the distortion area of the second tracking equipment in the horizontal direction, the fourth coordinate threshold value is the minimum coordinate value of the second monitoring area in the horizontal direction, and the second monitoring area is the monitoring area of the second monitoring equipment; and when the first coordinate value is not greater than the third coordinate threshold or not less than the fourth coordinate threshold, determining that the target object is not in the designated area.

For example, referring to fig. 8, the first monitoring device 101 is a first bolt face, the second monitoring device 102 is a second bolt face, the first tracking device 201 is a first ball face, the second tracking device 202 is a second ball face, and the target object 205 is a person. The first bolt face divides the first monitoring area into a plane rectangular coordinate system, x represents an abscissa, namely a coordinate in a horizontal direction, the direction of the first bolt face is directed to the second bolt face, y represents an ordinate, namely a coordinate perpendicular to the horizontal direction, and a monitoring starting position of the first bolt face is an origin coordinate. The first bolt face determines a first coordinate value of the person based on first position information (Xa, ya) of the person, the first coordinate value being a coordinate value of the person in a horizontal direction of the first bolt face. The horizontal coordinate value of the monitoring starting position of the first gun camera is 0, the horizontal coordinate value of the person is Xa, and then the first coordinate value is Xa. The third coordinate threshold Xr is the minimum coordinate value of the distortion area of the dome camera in the horizontal direction, the fourth coordinate threshold is the minimum coordinate value of the second monitoring area in the horizontal direction of the coordinate system of the second gun camera, and the coordinate value of the position in the horizontal direction of the first monitoring area is Xs. When the first coordinate value Xa is greater than the third coordinate threshold Xr and less than the fourth coordinate threshold Xs, the first bolt face determines that the person is in the designated area; when the first coordinate value Xa is not greater than the third coordinate threshold Xr or not less than the fourth coordinate threshold Xs, the first bolt face determines that the person is not in the designated area.

When the first monitoring device determines that the target object is in the designated area of the controlled second tracking device based on the first location information, step 603 is performed;

when the first monitoring device determines that the target object is not in the designated area of the controlled second tracking device based on the first position information, step 604 is performed.

And 603, when the target object is determined to be in the designated area of the controlled second tracking device based on the first position information, the first monitoring device cancels the control of the second tracking device, and the second tracking device automatically tracks the target object and ends.

The first monitoring equipment cancels the control of the second tracking equipment, and in one possible implementation manner, the first monitoring equipment sends cancellation control information to the second tracking equipment, and the second tracking equipment enters an ATK tracking mode after receiving the cancellation control information to automatically detect and track a target object; in another possible implementation manner, the first monitoring device sends an automatic tracking instruction to the second tracking device, and after receiving the automatic tracking instruction, the second tracking device enters an ATK tracking mode to automatically detect and track the target object. In another possible implementation manner, the first monitoring device stops sending the tracking instruction to the second tracking device, and when the second tracking device does not receive the tracking instruction of the first monitoring device, the first monitoring device enters an ATK tracking mode to automatically detect and track the target object.

Referring to fig. 7, when the first bolt determines that the person is in the designated area of the second bolt, the first bolt cancels the control of the second bolt, and the second bolt enters an ATK mode to track and monitor the person. The ATK mode is an automatic tracking mode of the second dome camera, and in the automatic tracking mode, the second dome camera automatically detects and tracks the target object.

It should be noted that, before the target object obtains the first position information, the target object is in the monitoring area of the first monitoring device, and the first monitoring device controls the second tracking device to track the target object. After the first monitoring equipment acquires the first position information, determining whether the target object is in a monitoring area of the first monitoring equipment; the first monitoring device determines whether the target object is within the designated area of the second tracking device based on the first position information when the target object is within the monitoring area of the first monitoring device.

When the first monitoring device determines that the target object is in the monitoring area of the second monitoring device based on the first position information, the first monitoring device passes the control authority of the second tracking device to the second monitoring device, and the second monitoring device controls the second tracking device so that the second tracking device tracks the target object. The second tracking device tracks the target object based on the control of the second monitoring device. Wherein the second monitoring device is in the same geographic location as the second tracking device.

The second monitoring device controls the second tracking device, and the process of tracking the target object may be:

the second monitoring device sends a third tracking instruction to the second tracking device. In one possible implementation manner, the first position information is carried in the third tracking instruction, the second tracking device receives the third tracking instruction, and converts the first position information carried in the third tracking instruction into third position information, where the third position information is coordinate information of the target object in a coordinate system of the second tracking device, and the second tracking device tracks the target object based on the third position information. In another possible implementation manner, the second monitoring device converts the first position information into third position information, wherein the third position information is coordinate information of the target object in a second tracking device coordinate system; the second monitoring equipment sends a third tracking instruction to the second tracking equipment, wherein the first tracking instruction carries third position information; and the second tracking equipment receives the first tracking instruction and tracks the target object based on third position information carried in the first tracking instruction.

It should be noted that, before the second tracking device tracks the target object based on the control of the second monitoring device, the second monitoring device needs to acquire the control authority of the second tracking device; the process of the second monitoring device obtaining the control authority of the second tracking device may be:

the second monitoring device sends a second control request to the second tracking device. The second control request carries the equipment identifier of the first monitoring equipment; the second tracking device receives a second tracking request sent by the second monitoring device, and determines whether the second monitoring device has control authority for controlling the second tracking device according to the device identifier of the second monitoring device; when the second tracking device determines that the second monitoring device has the control right for controlling the second tracking device, returning a second confirmation response corresponding to the second control request to the second monitoring device, wherein the second confirmation response is used for indicating the second monitoring device to control the second tracking device, and after receiving the second confirmation response, the second monitoring device controls the second tracking device based on the second confirmation response; and when the second tracking equipment determines that the second monitoring equipment does not have the control right for controlling the second tracking equipment, returning a second reject response corresponding to the second control request to the second monitoring equipment, wherein the second reject response is used for indicating that the second monitoring equipment cannot control the second tracking equipment, and the second monitoring equipment does not control the second tracking equipment after receiving the second reject response.

The step of determining, by the second tracking device, whether the second monitoring device has control authority to control the second tracking device according to the device identifier of the second monitoring device may be:

the geographic positions of the second monitoring equipment and the second tracking equipment are the same, and the second tracking equipment is bound with the MAC address of the second monitoring equipment and has the priority control right of the second tracking equipment. And after the second tracking equipment receives the second control request of the second monitoring equipment, judging the current working state. And when the working state of the tracking equipment is an idle state or the second monitoring equipment is determined to have the priority control right according to the equipment identification, the second tracking equipment sends a second confirmation response corresponding to a second control request to the second monitoring equipment. And when the working state of the second tracking equipment is a busy state and the second monitoring equipment does not have the priority control right according to the equipment identification, the second tracking equipment sends a second rejection response to the second monitoring equipment.

Wherein the device identification may be a MAC (Media Access Control Address, media access control) address or an IP address of the second monitoring device, etc.

It should be noted that, before the first monitoring device determines that the target object is in the designated area, the first monitoring device determines a movement track of the target object, when the movement track of the target object moves from the second monitoring area of the second monitoring device to the first monitoring area of the first monitoring device, the second monitoring device cancels the control of the second tracking device, and the second tracking device automatically tracks the target object, where the first monitoring device does not send a control request to the second tracking device, i.e. the first monitoring device does not request the control right of the second tracking device.

For example, referring to fig. 8, when a person enters the first monitoring area from the second monitoring area, the first bolt does not send a control request to the second bolt before the person passes through the distortion area of the second bolt, and the second bolt keeps an ATK mode for tracking and monitoring the person. If the personnel leave the second monitoring area and do not enter the distortion area of the second dome camera, the first dome camera requests the control right of the second dome camera, at the moment, the second dome camera is idle, the first dome camera obtains the control right of the second dome camera, and the second dome camera performs tracking and monitoring on the personnel under the control of the first dome camera; when a person enters a distortion area of the second dome camera, the first dome camera gives up the control right of the second dome camera, and the second dome camera enters an ATK mode to track and monitor the person; when the person leaves the distortion area of the second dome camera, the first dome camera sends a control request to the second dome camera again, at the moment, the second dome camera is idle, the first dome camera obtains the control right of the second dome camera, and the second dome camera performs tracking and monitoring on the person under the control of the first dome camera. The process is complicated, a control instruction is sent to the second dome camera again after the control right is acquired each time, the calculation capability of the gun camera and the dome camera is occupied, and when the area between the distortion area and the second monitoring area is smaller, the second tracking equipment can automatically track the target object more accurately.

In step 604, when it is determined that the target object is not in the designated area of the controlled second tracking device based on the first position information, the first monitoring device controls the second tracking device and/or the first tracking device to track the target object.

The area that the first tracking device can monitor is a monitoring area of the first tracking device, and the monitoring area of the first tracking device may cover the first monitoring area of the first monitoring device, or may cover only a part of the first monitoring area of the first monitoring device; the area that the second tracking device can monitor is a monitoring area of the second tracking device, where the monitoring area of the second tracking device may cover a second monitoring area of the second monitoring device, or may cover only a part of the second monitoring area of the second monitoring device, and the monitoring area of the second tracking device may cover a first monitoring area of the first monitoring device, or may cover only a part of the first monitoring area of the first monitoring device; the monitoring area of the first tracking device and the monitoring area of the second tracking device may have overlapping portions, may have independent portions, or may have no overlapping portions.

When the first monitoring device determines that the target object is not in the designated area of the controlled second tracking device and is only in the monitoring area of the first tracking device, the first monitoring device controls the first tracking device so that the first tracking device tracks the target object. The first monitoring device controls the first tracking device to track the target object based on the first position information when determining that the target object is only in the monitoring area of the first tracking device, namely, is not in the monitoring area of the second tracking device.

The first monitoring device controls the first tracking device, and the process of tracking the target object may be:

the first monitoring device sends a first tracking instruction to the first tracking device. In one possible implementation manner, the first tracking instruction carries the first position information, the first tracking device receives the first tracking instruction and converts the first position information carried by the first tracking instruction into second position information, the second position information is coordinate information of the target object in a coordinate system of the first tracking device, and the first tracking device tracks the target object based on the second position information. In another possible implementation manner, the first monitoring device converts the first position information into the second position information, wherein the first position information is coordinate information of the target object in a coordinate system of the first monitoring device; the first monitoring equipment sends a first tracking instruction to the first tracking equipment, wherein the first tracking instruction carries second position information; and the first tracking equipment receives the first tracking instruction and tracks the target object based on the second position information carried in the first tracking instruction.

It should be noted that, before the first monitoring device controls the first tracking device, the first monitoring device needs to acquire a control right of the first tracking device; the process of the first monitoring device obtaining the control authority of the first tracking device may be:

the first monitoring device sends a first control request to the first tracking device. The first control request carries the equipment identifier of the first monitoring equipment; the first tracking device receives a first control request of the first monitoring device, and determines whether the first monitoring device has control authority for controlling the first tracking device according to the device identifier of the first monitoring device; when the first tracking device determines that the first monitoring device has the control right for controlling the first tracking device, returning a first confirmation response corresponding to the first control request to the first monitoring device, wherein the first confirmation response is used for indicating the first monitoring device to control the first tracking device, and after receiving the first confirmation response, the first monitoring device controls the first tracking device based on the first confirmation response; when the first tracking device determines that the first monitoring device does not have the control right for controlling the first tracking device, a first reject response corresponding to the first control request is returned to the first monitoring device, wherein the first reject response is used for indicating that the first monitoring device cannot control the first tracking device, and the first monitoring device does not control the first tracking device after receiving the first reject response.

The step of determining, by the first tracking device, whether the first monitoring device has control authority to control the first tracking device according to the device identifier of the first monitoring device may be:

the geographic positions of the first monitoring device and the first tracking device are the same, and the first tracking device is bound with the MAC address of the first monitoring device and has the priority control right of the first tracking device. And after the first tracking equipment receives the first control request of the first monitoring equipment, judging the current working state. When the working state of the first tracking device is an idle state, or when the first monitoring device is determined to have a priority control right according to the device identifier, the first tracking device sends a first confirmation response corresponding to a first control request to the first monitoring device. And when the working state of the first tracking equipment is a busy state and the first monitoring equipment does not have the priority control right according to the equipment identification, the first tracking equipment sends a first rejection response to the first monitoring equipment.

Wherein the device identification may be a MAC (Media Access Control Address, media access control) address or an IP address of the first monitoring device, etc.

When the first monitoring device determines that the target object is not in the designated area of the controlled second tracking device and is only in the monitoring area of the second tracking device, the first monitoring device controls the second tracking device so that the second tracking device tracks the target object. The first monitoring device determines that the target object is only in the monitoring area of the second tracking device based on the first position information, namely, when the target object is not in the monitoring area of the first tracking device, the first monitoring device controls the second tracking device to track the target object.

The first monitoring device controls the second tracking device, and the process of tracking the target object may be:

the first monitoring device sends a second tracking instruction to the second tracking device. In one possible implementation manner, the second tracking instruction carries the first position information, the second tracking device receives the second tracking instruction, and converts the first position information carried in the second tracking instruction into third position information, where the third position information is coordinate information of the target object in a coordinate system of the second tracking device, and the second tracking device tracks the target object based on the third position information. In another possible implementation manner, the first monitoring device converts the first position information into third position information, wherein the third position information is coordinate information of the target object in a second tracking device coordinate system; the first monitoring device sends a second tracking instruction to the second tracking device, wherein the first tracking instruction carries third position information; and the second tracking equipment receives the first tracking instruction and tracks the target object based on third position information carried in the first tracking instruction.

It should be noted that, before the first monitoring device controls the second tracking device, the first monitoring device needs to acquire a control right of the second tracking device; the process of the first monitoring device obtaining the control authority of the second tracking device may be:

the first monitoring device sends a third control request to the second tracking device. The third control request carries the equipment identifier of the first monitoring equipment; the second tracking device receives a third control request of the first monitoring device, and determines whether the first monitoring device has control authority for controlling the second tracking device according to the device identifier of the first monitoring device; when the second tracking device determines that the first monitoring device has the control right for controlling the second tracking device, returning a third confirmation response corresponding to a third control request to the first monitoring device, wherein the third confirmation response is used for indicating the second monitoring device to control the second tracking device, and after the first monitoring device receives the third confirmation response, the second monitoring device controls the second tracking device based on the third confirmation response; and when the second tracking device determines that the first monitoring device does not have the control right for controlling the second tracking device, returning a third reject response corresponding to the third control request to the first monitoring device, wherein the third reject response is used for indicating that the first monitoring device cannot control the second tracking device, and the first monitoring device does not control the second tracking device after receiving the third reject response.

The step of determining, by the second tracking device, whether the first monitoring device has control authority to control the second tracking device according to the device identifier of the first monitoring device may be:

the geographic positions of the first monitoring device and the second tracking device are different, and the first monitoring device and the second tracking device do not have the priority control right of the first tracking device. And after the second tracking equipment receives the third control request of the first monitoring equipment, judging the current working state. And when the working state of the second tracking equipment is an idle state or the first monitoring equipment is determined to have the priority control right according to the equipment identification, the second tracking equipment sends a first confirmation response corresponding to the first control request to the first monitoring equipment. And when the working state of the second tracking equipment is a busy state and the first monitoring equipment does not have the priority control right according to the equipment identification, the second tracking equipment sends a third rejection response to the first monitoring equipment.

When the first monitoring device determines that the target object is not in the designated area of the controlled second tracking device and is in the monitoring area of the first tracking device and the monitoring area of the second tracking device, the first monitoring device controls the first tracking device and the second tracking device so that the first tracking device and the second tracking device track the target object. And the first monitoring equipment controls the second tracking equipment and the first tracking equipment to track the target object when determining that the target object is positioned at the overlapping part of the monitoring area of the first tracking equipment and the monitoring area of the second tracking equipment based on the first position information.

The first monitoring device controls the second tracking device and the first tracking device, and the process of tracking the target object may be:

in one possible implementation, the first monitoring device sends fourth tracking instructions to the first tracking device and the second tracking device, respectively. The fourth tracking instruction carries the first position information, the first tracking device and the second tracking device respectively receive the fourth tracking instruction, the first tracking device converts the first position information carried by the fourth tracking instruction into second position information, the second position information is coordinate information of a target object in a coordinate system of the first tracking device, and the first tracking device tracks the target object based on the second position information; the second tracking device converts the first position information carried in the fourth tracking instruction into third position information, wherein the third position information is coordinate information of the target object in a coordinate system of the second tracking device, and the second tracking device tracks the target object based on the third position information.

In another possible implementation, the first monitoring device converts the first position information into second position information and third position information, the second position information being coordinate information of the target object in a coordinate system of the first tracking device, and the third position information being coordinate information of the target object in a coordinate system of the second tracking device. The first monitoring device sends a fifth tracking instruction to the first tracking device, wherein the fifth tracking instruction carries second position information; and the first tracking equipment receives the first tracking instruction and tracks the target object based on the second position information carried in the first tracking instruction. The first monitoring device sends a sixth tracking instruction to the second tracking device, wherein the first tracking instruction carries third position information; and the second tracking equipment receives the sixth tracking instruction and tracks the target object based on third position information carried in the first tracking instruction.

For example, referring to fig. 9, the first monitoring device 101 is a first bolt face, the second monitoring device 102 is a first bolt face, the first tracking device 201 is a first dome camera, the second tracking device 202 is a second dome camera, and the target object 205 is a person. In a first implementation, the first bolt transmits a fourth tracking instruction to the first and second cameras, respectively. The fourth tracking instruction carries the first position information, the first ball machine and the second ball machine respectively receive the fourth tracking instruction, the first ball machine converts the first position information carried by the fourth tracking instruction into second position information, the second position information is coordinate information of a target object in a coordinate system of the first ball machine, and the first ball machine tracks the target object based on the second position information; the second dome camera converts the first position information carried in the fourth tracking instruction into third position information, wherein the third position information is coordinate information of the target object in a coordinate system of the second dome camera, and the second dome camera tracks the target object based on the third position information. In a second implementation manner, the first bolt face converts the first position information into second position information and third position information, the second position information is coordinate information of the target object in a coordinate system of the first ball machine, and the third position information is coordinate information of the target object in a coordinate system of the second ball machine. The first rifle bolt sends a fifth tracking instruction to the first ball machine, wherein the fifth tracking instruction carries second position information; and the first dome camera receives the first tracking instruction and tracks the target object based on second position information carried in the first tracking instruction. The first rifle bolt sends a sixth tracking instruction to the second dome camera, and the first tracking instruction carries third position information; and the second dome camera receives the sixth tracking instruction and tracks the target object based on third position information carried in the first tracking instruction.

Fig. 10 is a block diagram illustrating an apparatus for tracking a target object according to an exemplary embodiment. The device is used for solving the problem that the tracking equipment cannot accurately track the target object in the designated area. The apparatus comprises an acquisition module 1001, a first determination module 1002 and a second determination module 1003.

The acquiring module 1001 is configured to acquire first location information of a target object when the target object is detected;

The first determining module 1002 is configured to cancel control of the second tracking device when it is determined that the target object is in the designated area of the controlled second tracking device based on the first position information, and automatically track the target object by the second tracking device;

the second determining module 1003 is configured to control the second tracking device and/or the first tracking device to track the target object when it is determined that the target object is not in the specified area based on the first position information;

the geographic positions of the local end and the first tracking equipment are the same, and the geographic positions of the local end and the second tracking equipment are different.

In a possible implementation manner, the second determining module 1003 is further configured to control the second tracking device and the first tracking device to cause the second tracking device and the first tracking device to track the target object when it is determined that the target object is not in the designated area and is located within the monitoring area of the first tracking device and the monitoring area of the second tracking device based on the first position information.

In another possible implementation, the second determining module 1003 is further configured to determine that the target object is not in the designated area based on the first location information, and that the target object is only in the monitoring area of the first tracking device;

The first tracking device is controlled such that the first tracking device tracks the target object.

In another possible implementation, the second determining module 1003 is further configured to determine that the target object is not in the designated area based on the first location information, and that the target object is only in the monitoring area of the second tracking device;

the second tracking device is controlled such that the second tracking device tracks the target object.

In another possible implementation, the apparatus further includes:

the third determining module is configured to, when determining that the target object is in the monitoring area of the second monitoring device based on the first position information, hand over the control authority of the second tracking device to the second monitoring device, and control the second tracking device by the second monitoring device so as to enable the second tracking device to track the target object;

wherein the second monitoring device is in the same geographic location as the second tracking device.

In another possible implementation, the apparatus further includes:

the sending module is configured to send a first control request to the first tracking equipment, wherein the first control request carries the equipment identifier of the local terminal;

the first receiving module is configured to determine to obtain the authority to control the first tracking device according to the first confirmation response when receiving the first confirmation response corresponding to the first control request returned by the first tracking device according to the device identifier.

the first coordinate information is used as first position information.

In another possible implementation, the apparatus further includes:

the fourth determining module is configured to determine coordinate values of the target object in the horizontal direction in the coordinate system of the local end from the first coordinate information to obtain a first coordinate value;

a fifth determining module configured to determine that the target object is in the designated area when the first coordinate value is greater than a first coordinate threshold, which is a minimum coordinate value of the distortion area of the second tracking device in the horizontal direction, and less than a second coordinate threshold, which is a maximum coordinate value of the distortion area of the second tracking device in the horizontal direction;

and a sixth determining module configured to determine that the target object is not in the specified region when the first coordinate value is not greater than the first coordinate threshold or not less than the second coordinate threshold.

In another possible implementation, the apparatus further includes:

a seventh determining module configured to determine a coordinate value of the target object in a horizontal direction in a coordinate system of the local end from the first coordinate information, to obtain a first coordinate value;

An eighth determining module configured to determine that the target object is in the specified region when the first coordinate value is greater than a third coordinate threshold, which is a minimum coordinate value of the distortion region of the tracking device in the horizontal direction, and less than a fourth coordinate threshold, which is a minimum coordinate value of the coordinate system of the second monitoring device in the horizontal direction;

and a ninth determination module configured to determine that the target object is not in the specified region when the first coordinate value is not greater than the third coordinate threshold or not less than the fourth coordinate threshold.

In another possible implementation, the first determining module 1002 is further configured to determine a movement track of the target object;

In another possible implementation manner, the second determining module 1003 is further configured to convert the first location information into second location information, where the first location information is location information of the target object in the home terminal, and the second location information is location information of the target object in the first tracking device;

And sending a first tracking instruction to the first tracking device, wherein the first tracking instruction carries second position information, and tracking the target object by the first tracking device based on the second position information.

In another possible implementation manner, the second determining module is further configured to convert the first location information into third location information, where the first location information is location information of the target object in the local end, and the third location information is location information of the target object in the second tracking device;

and sending a second tracking instruction to the second tracking device, wherein the second tracking instruction carries third position information, and tracking the target object by the second tracking device based on the third position information.

When the first monitoring equipment detects a target object, acquiring first position information of the target object; when the first monitoring device determines that the target object is in the appointed area of the controlled second tracking device based on the first position information, the control of the second tracking device is canceled, and the second tracking device automatically tracks the target object; and when the first monitoring device determines that the target object is not in the designated area based on the first position information, controlling the second tracking device and/or the first tracking device to track the target object. The problem that the tracking device cannot accurately track the target object in the designated area under the control of the first monitoring device is effectively solved, and the tracking accuracy is improved.

FIG. 11 is a block diagram illustrating an apparatus for tracking a target object according to an exemplary embodiment. The device is used for solving the problem that the tracking equipment cannot accurately track the target object in the designated area. The apparatus includes a first tracking module 1101 and a second tracking module 1102. The apparatus comprises:

a first tracking module 1101 configured to automatically track a target object when the tracked target object is in a specified area of the home terminal;

a second tracking module 1102 configured to track the target object based on control of the first monitoring device or the second monitoring device when the target object is not in the designated area;

the first monitoring equipment and the local terminal are different in geographic position, and the second monitoring equipment and the local terminal are the same in geographic position.

In another possible implementation, the second tracking module 1102 is further configured to track the target object based on control of the first monitoring device when the target object is within the monitoring area of the first monitoring device.

In another possible implementation, the second tracking module 1102 is further configured to track the target object based on control of the second monitoring device when the target object is within the monitoring area of the second monitoring device.

In another possible implementation, the apparatus further includes:

the return module is configured to return a second confirmation response corresponding to the second control request to the second monitoring device according to the device identifier when the second monitoring device has control right for preferentially controlling the second tracking device compared with the first monitoring device, wherein the second confirmation response is used for indicating the second monitoring device to control the local terminal.

In another possible implementation manner, the second tracking module 1102 is further configured to receive a second tracking instruction sent by the first monitoring device, where the second tracking instruction carries third location information, and the third location information is location information of the target object in the local end;

tracking the target object based on the third position information.

In another possible implementation manner, the second tracking module 1102 is further configured to receive a third tracking instruction sent by the second monitoring device, where the third tracking instruction carries third location information, and the third location information is location information of the target object in the home terminal;

Tracking the target object based on the third position information.

When the target object is in the appointed area, the first monitoring equipment does not control the second tracking equipment, and the second tracking equipment automatically tracks the target object; when the target object is in the designated area, the first monitoring device controls the second tracking device to track the target object. The problem that the second tracking device cannot accurately track the target object in the designated area under the control of the first monitoring device is effectively solved, and the tracking accuracy is improved.

Fig. 12 shows a block diagram of an apparatus 1200 provided by an exemplary embodiment of the invention. The device 1200 may be a monitoring device or a tracking device, such as: gun camera, ball machine. Device 1200 may also be referred to by other names as user device, portable device, laptop device, desktop device, etc.

In general, the apparatus 1200 includes: a processor 1201 and a memory 1202.

Processor 1201 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 1201 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 1201 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1201 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and rendering of content required to be displayed by the display screen. In some embodiments, the processor 1201 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 1202 may include one or more computer-readable storage media, which may be non-transitory. Memory 1202 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 1202 is used to store at least one instruction for execution by processor 1201 to implement the method of tracking a target object provided by the method embodiments herein.

In some embodiments, the apparatus 1200 may optionally further include: a peripheral interface 1203, and at least one peripheral. The processor 1201, the memory 1202, and the peripheral interface 1203 may be connected by a bus or signal lines. The individual peripheral devices may be connected to the peripheral device interface 1203 via buses, signal lines, or a circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1204, a display 1205, a camera assembly 1206, audio circuitry 1207, a positioning assembly 1208, and a power supply 1209.

The peripheral interface 1203 may be used to connect at least one peripheral device associated with an I/O (Input/Output) to the processor 1201 and the memory 1202. In some embodiments, the processor 1201, the memory 1202, and the peripheral interface 1203 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 1201, the memory 1202, and the peripheral interface 1203 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.

The Radio Frequency circuit 1204 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuit 1204 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 1204 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1204 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuit 1204 may communicate with other devices via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuit 1204 may also include NFC (Near Field Communication ) related circuits, which are not limited in this application.

The display 1205 is used to display a UI (user interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 1205 is a touch display, the display 1205 also has the ability to collect touch signals at or above the surface of the display 1205. The touch signal may be input as a control signal to the processor 1201 for processing. At this time, the display 1205 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 1205 may be one, providing a front panel of the device 1200; in other embodiments, the display 1205 may be at least two, each disposed on a different surface of the device 1200 or in a folded design; in still other embodiments, the display 1205 may be a flexible display disposed on a curved surface or a folded surface of the device 1200. Even more, the display 1205 may be arranged in an irregular pattern that is not rectangular, i.e., a shaped screen. The display 1205 can be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.

The camera assembly 1206 is used to capture images or video. Optionally, camera assembly 1206 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the device and the rear camera is disposed on the back of the device. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and VR (virtual reality) shooting function or other fusion shooting functions. In some embodiments, camera assembly 1206 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.

The audio circuitry 1207 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 1201 for processing, or inputting the electric signals to the radio frequency circuit 1204 for voice communication. The microphone may be provided in a plurality of different locations of the apparatus 1200 for stereo acquisition or noise reduction purposes. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 1201 or the radio frequency circuit 1204 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, the audio circuitry 1207 may also include a headphone jack.

The positioning component 1208 is used to locate the current geographic location of the device 1200 to enable navigation or LBS (Location Based Service, location-based services). The positioning component 1208 may be a positioning component based on the united states GPS (Global Positioning System ), the beidou system of china, or the galileo system of russia.

The power supply 1209 is used to power the various components in the device 1200. The power source 1209 may be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power source 1209 comprises a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the device 1200 also includes one or more sensors 1210. The one or more sensors 1210 include, but are not limited to: acceleration sensor 1211, gyroscope sensor 1212, pressure sensor 1213, fingerprint sensor 1214, optical sensor 1215, and proximity sensor 1216.

The acceleration sensor 1211 may detect the magnitudes of accelerations on three coordinate axes of the coordinate system established with the apparatus 1200. For example, the acceleration sensor 1211 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 1201 may control the display 1205 to display a user interface in either a landscape view or a portrait view based on the gravitational acceleration signal acquired by the acceleration sensor 1211. The acceleration sensor 1211 may also be used for the acquisition of motion data of a game or a user.

The gyro sensor 1212 may monitor the body direction and the rotation angle of the device 1200, and the gyro sensor 1212 may collect 3D actions of the user on the device 1200 in cooperation with the acceleration sensor 1211. The processor 1201 may implement the following functions based on the data collected by the gyro sensor 1212: motion sensing (e.g., changing UI according to a tilting operation by a user), image stabilization at shooting, game control, and inertial navigation.

The pressure sensor 1213 may be positioned on a side frame of the device 1200 and/or on an underlying layer of the display 1205. When the pressure sensor 1213 is disposed at a side frame of the device 1200, a user's grip signal to the device 1200 may be detected, and left-right hand recognition or shortcut operation may be performed by the processor 1201 based on the grip signal collected by the pressure sensor 1213. When the pressure sensor 1213 is disposed at the lower layer of the display 1205, the processor 1201 controls the operability control on the UI interface according to the pressure operation of the user on the display 1205. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

The fingerprint sensor 1214 is used to collect a fingerprint of the user, and the processor 1201 identifies the identity of the user based on the fingerprint collected by the fingerprint sensor 1214, or the fingerprint sensor 1214 identifies the identity of the user based on the fingerprint collected. Upon recognizing that the user's identity is a trusted identity, the processor 1201 authorizes the user to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying for and changing settings, etc. The fingerprint sensor 1214 may be provided on the front, back or side of the device 1200. When a physical key or vendor Logo is provided on device 1200, fingerprint sensor 1214 may be integrated with the physical key or vendor Logo.

The optical sensor 1215 is used to collect the ambient light intensity. In one embodiment, processor 1201 may control the display brightness of display 1205 based on the intensity of ambient light collected by optical sensor 1215. Specifically, when the intensity of the ambient light is high, the display brightness of the display screen 1205 is turned up; when the ambient light intensity is low, the display brightness of the display screen 1205 is turned down. In another embodiment, processor 1201 may also dynamically adjust the shooting parameters of camera assembly 1206 based on the intensity of ambient light collected by optical sensor 1215.

A proximity sensor 1216, also referred to as a distance sensor, is typically provided on the front panel of the device 1200. The proximity sensor 1216 is used to capture the distance between the user and the front of the device 1200. In one embodiment, when the proximity sensor 1216 detects a gradual decrease in the distance between the user and the front of the device 1200, the processor 1201 controls the display 1205 to switch from the bright screen state to the off screen state; when the proximity sensor 1216 detects that the distance between the user and the front face of the device 1200 gradually increases, the display 1205 is controlled by the processor 1201 to switch from the off-screen state to the on-screen state.

Those skilled in the art will appreciate that the structure shown in fig. 12 is not limiting of the apparatus 1200 and may include more or fewer components than shown, or may combine certain components, or may employ a different arrangement of components.

The embodiment of the invention also provides a computer readable storage medium for monitoring equipment, wherein at least one instruction, at least one section of program, code set or instruction set is stored in the storage medium, and the instruction, the program, the code set or the instruction set is loaded and executed by a processor to realize the method for tracking the target object in the embodiment.

An embodiment of the present invention also provides another computer readable storage medium for tracking a device, where at least one instruction, at least one program, a set of codes, or a set of instructions are stored, where the instruction, the program, the set of codes, or the set of instructions are loaded and executed by a processor to implement the method for tracking a target object of the above embodiment.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing related hardware, and the program for implementing the method for tracking a target object may be stored in a computer readable storage medium, where the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The specific manner in which the individual modules perform the operations in the apparatus of the above embodiments has been described in detail in relation to the embodiments of the method and will not be described in detail here.

It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims

1. A method of tracking a target object, the method being applied to a first monitoring device, the method comprising:

the first monitoring equipment acquires first position information of a target object when detecting the target object;

when the first monitoring device determines that the target object is in a designated area of a controlled second tracking device based on the first position information, canceling control of the second tracking device, and automatically tracking the target object by the second tracking device; the designated area is a distortion area of the second tracking device, or the designated area is a distortion area and an intermediate area of the second tracking device, and the intermediate area is an area between the distortion area and a second monitoring area; the distortion area is an area in which the second coordinate information is distorted when the first coordinate information of the target object in the coordinate system of the first monitoring device is converted into the second coordinate information in the coordinate system of the second tracking device in the first monitoring area; the first monitoring area is a monitoring area of the first monitoring equipment, and the second monitoring area is a monitoring area of the second monitoring equipment;

the geographic positions of the first monitoring device and the first tracking device are the same, the geographic positions of the first tracking device and the second tracking device are different, and the geographic positions of the second monitoring device and the second tracking device are the same.

2. The method of claim 1, wherein controlling the second tracking device and/or the first tracking device when the first monitoring device determines that the target object is not in the designated area based on the first location information comprises:

3. The method of claim 1, wherein controlling the second tracking device and/or the first tracking device when the first monitoring device determines that the target object is not in the designated area based on the first location information comprises:

when the first monitoring device determines that the target object is not in the designated area based on the first position information, and the target object is only in the monitoring area of the first tracking device, the first monitoring device controls the first tracking device so that the first tracking device tracks the target object.

4. The method of claim 1, wherein controlling the second tracking device and/or the first tracking device when the first monitoring device determines that the target object is not in the designated area based on the first location information comprises:

when the first monitoring device determines that the target object is not in the designated area based on the first position information and the target object is only in the monitoring area of the second tracking device, the first monitoring device controls the second tracking device so that the second tracking device tracks the target object.

5. The method according to claim 1, wherein the method further comprises:

6. A method according to claim 3, wherein before the first monitoring device controls the first tracking device, the method further comprises:

7. The method of claim 1, wherein the first monitoring device obtaining first location information of the target object comprises:

the first monitoring equipment acquires coordinate information of the target object in a coordinate system of the first monitoring equipment to obtain first coordinate information;

8. The method of claim 7, wherein after the first monitoring device obtains the first location information of the target object, the method further comprises:

9. The method of claim 7, wherein after the first monitoring device obtains the first location information of the target object, the method further comprises:

10. The method of claim 1, wherein the first monitoring device determining that the target object is in the designated area, canceling control of the second tracking device, comprises:

11. A method according to claim 3, wherein the first monitoring device controlling the first tracking device to cause the first tracking device to track the target object comprises:

12. The method of claim 4, wherein the first monitoring device controlling the second tracking device to cause the second tracking device to track the target object comprises:

13. A method of tracking a target object, the method being applied to a second tracking device, the method comprising:

when the tracked target object is in a designated area of second tracking equipment, the second tracking equipment automatically tracks the target object; the designated area is a distortion area of the second tracking device, or the designated area is a distortion area and an intermediate area of the second tracking device, the intermediate area is an area between the distortion area and a second monitoring area, and the distortion area is an area in which the second coordinate information is distorted when the first coordinate information of the target object in the coordinate system of the first monitoring device is converted into the second coordinate information in the coordinate system of the second tracking device in the first monitoring area; the first monitoring area is a monitoring area of the first monitoring equipment, and the second monitoring area is a monitoring area of the second monitoring equipment;

14. The method of claim 13, wherein the second tracking device tracks the target object based on control of the first monitoring device or the second monitoring device, comprising:

15. The method of claim 13, wherein the second tracking device tracks the target object based on control of the first monitoring device or the second monitoring device, comprising:

16. The method of claim 15, wherein the second tracking device is configured to, prior to tracking the target object based on control of the second monitoring device, further comprise:

17. The method of claim 14, wherein the second tracking device tracking the target object based on control of the first monitoring device comprises:

18. The method of claim 15, wherein the second tracking device tracking the target object based on control of the second monitoring device comprises:

19. An apparatus for tracking a target object, the apparatus being configured in a first monitoring device, the apparatus comprising:

a first determination module configured to cancel control of a second tracking device when it is determined that the target object is in a designated area of the second tracking device being controlled based on the first position information, the target object being automatically tracked by the second tracking device; the designated area is a distortion area of the second tracking device, or the designated area is a distortion area and an intermediate area of the second tracking device, and the intermediate area is an area between the distortion area and a second monitoring area; the distortion area is an area in which the second coordinate information is distorted when the first coordinate information of the target object in the coordinate system of the first monitoring device is converted into the second coordinate information in the coordinate system of the second tracking device in the first monitoring area; the first monitoring area is a monitoring area of the first monitoring equipment, and the second monitoring area is a monitoring area of the second monitoring equipment;

the geographic positions of the first monitoring device and the second tracking device are the same, the geographic positions of the first monitoring device and the second tracking device are different, and the geographic positions of the second monitoring device and the second tracking device are the same.

20. An apparatus for tracking a target object, the apparatus being configured in a second tracking device, the apparatus comprising:

a first tracking module configured to automatically track a target object to be tracked when the target object is in a designated area of the second tracking device; the designated area is a distortion area of the second tracking device, or the designated area is a distortion area and an intermediate area of the second tracking device, the intermediate area is an area between the distortion area and a second monitoring area, and the distortion area is an area in which the second coordinate information is distorted when the first coordinate information of the target object in the coordinate system of the first monitoring device is converted into the second coordinate information in the coordinate system of the second tracking device in the first monitoring area; the first monitoring area is a monitoring area of the first monitoring equipment, and the second monitoring area is a monitoring area of the second monitoring equipment;

A second tracking module configured to track the target object based on control of the first monitoring device or the second monitoring device when the target object is not in the designated area;

21. A monitoring device, characterized in that the monitoring device comprises:

a processor and a memory having stored therein at least one instruction, at least one program, code set or instruction set that is loaded and executed by the processor to implement the operations performed in the method of tracking a target object of any of claims 1-12.

22. A tracking device, the tracking device comprising:

a processor and a memory having stored therein at least one instruction, at least one program, code set or instruction set that is loaded and executed by the processor to implement the operations performed in the method of tracking a target object of any of claims 13-18.

23. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the program, the set of codes, or the set of instructions being loaded and executed by a processor to implement the operations performed in the method of tracking a target object of any one of claims 1-12.

24. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the program, the set of codes, or the set of instructions being loaded and executed by a processor to implement the operations performed in the method of tracking a target object of any one of claims 13-18.