CN112136312A - Method for obtaining target distance, control device and mobile platform - Google Patents
Method for obtaining target distance, control device and mobile platform Download PDFInfo
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- CN112136312A CN112136312A CN201980030589.0A CN201980030589A CN112136312A CN 112136312 A CN112136312 A CN 112136312A CN 201980030589 A CN201980030589 A CN 201980030589A CN 112136312 A CN112136312 A CN 112136312A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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Abstract
Provided are a method for obtaining a target distance, a control device and a mobile platform. The method specifically comprises the following steps: determining distance change information of the target object according to imaging characteristic information of the target object in the image; detecting whether the imaging characteristic information of the target object meets an imaging change condition, if so, controlling the focusing operation of the shooting device according to the distance change information, and if not, focusing the target object through the shooting device to obtain an object distance; then, obtaining distance information of the target object according to the object distance and the distance change information; and tracking and focusing the target object by using the distance information. The object distance and the distance change information obtained by the unmanned aerial vehicle are acquired by the shooting device, so that the accurate distance information of the target object can be obtained, and the accuracy of tracking the target object by the unmanned aerial vehicle is improved.
Description
Technical Field
The invention relates to the technical field of computer application, in particular to a method for obtaining a target distance, a control device and a mobile platform.
Background
With the rapid development of scientific technology, how to select a proper scheme for acquiring distance information realizes the detection, positioning and tracking of a target object, and is beneficial to describing and understanding the behavior of the target object.
Currently, a brief solution for tracking a target object includes: and determining whether the target object approaches or moves away by judging the size change of the target object in the image. For example, when the size of a target object in an image becomes smaller, the target object may be considered to be far from the imaging device with respect to the imaging device, and to be close to the imaging device. The method can realize rapid judgment of the target object in the aspects of being far away from or close to the camera device. How to determine the distance of a target object from the imaging device more accurately in relative terms becomes a hot issue of research.
Disclosure of Invention
The application provides a method for obtaining a target distance, a control device and a mobile platform, which can more accurately determine the distance between a shot object and a camera device compared with the situation that the movement direction of a user is determined only based on the image size.
In a first aspect, an embodiment of the present invention provides a method for obtaining a target distance, where the method includes:
determining distance change information of a target object according to imaging characteristic information of the target object in an image, wherein the image is acquired by the shooting device;
focusing the target object through the shooting device to obtain an object distance between the target object and the shooting device during focusing;
and determining the distance information between the target object and the mobile platform according to the object distance and the distance change information.
In a second aspect, an embodiment of the present invention provides a control apparatus, including: a storage device and a processor;
the storage device is used for storing program instructions;
the processor may call the program instructions for
Determining distance change information of a target object according to imaging characteristic information of the target object in an image, wherein the image is acquired by the shooting device;
focusing the target object through the shooting device to obtain an object distance between the target object and the shooting device during focusing;
and determining the distance information between the target object and the mobile platform according to the object distance and the distance change information.
In a third aspect, an embodiment of the present invention provides a mobile platform, including a power assembly, a storage device, and a controller;
the power assembly is used for driving the mobile platform to move;
program instructions are stored in the storage device;
the processor calls the program instruction for
Determining distance change information of a target object according to imaging characteristic information of the target object in an image, wherein the image is acquired by the shooting device;
focusing the target object through the shooting device to obtain an object distance between the target object and the shooting device during focusing;
and determining the distance information between the target object and the mobile platform according to the object distance and the distance change information.
In a fourth aspect, an embodiment of the present invention provides a control apparatus. The apparatus has a function of implementing the method of acquiring a target distance described in the first aspect. The functions can be realized by hardware, and the functions can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the above-described functions.
In one implementation, the control device may include: the device comprises a receiving module, a processing module, a correction module and a control module. The receiving module is used for receiving image frames and adjacent image frames from the shooting device; the processing module is used for determining distance change information of a target object according to imaging characteristic information of the target object in an image, and the image is acquired by the shooting device; focusing the target object through the shooting device to obtain an object distance between the target object and the shooting device during focusing; determining distance information between the target object and the mobile platform according to the object distance and the distance change information; and the control device optionally further comprises a control module for controlling the mobile platform to follow the target object; the control module can also be used for controlling the shooting device to focus on the target object, so that the unmanned aerial vehicle obtains the object distance between the target object and the shooting device.
By implementing the embodiment of the invention, the unmanned aerial vehicle can comprehensively determine more accurate distance information of a target object relative to equipment such as a shooting device by combining the imaging characteristics of the target object in an image and the object distance determined by the shooting device during focusing, and further can better determine that the target object to be shot moves away from the shooting device or moves close to the shooting device according to needs, so that the follow-up better functions such as tracking the target object can be realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a system for obtaining a target distance according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a method for obtaining a target distance according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of another method for obtaining a target distance according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of another method for obtaining a target distance according to an embodiment of the present invention;
FIG. 5a is a schematic diagram of focusing a target object in an image frame according to an embodiment of the present invention;
FIG. 5b is a schematic diagram of focusing on a target object in an adjacent image frame of the image frames according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of interaction between a control device and a camera according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a Gaussian imaging formula provided by an embodiment of the invention;
fig. 8 is a schematic structural diagram of a control device according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a control device according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a scheme for acquiring the target distance of a target object to be shot compared with that of a camera device or a mobile platform. The shooting device can send the acquired image to the mobile platform according to the requirement. The camera device can be mounted on the mobile platform. Accordingly, after the image is received by the mobile platform, the distance change information of the target object can be obtained according to the imaging feature information of the target object in the image, such as the outline shape and the imaging size, and the distance change information is used for indicating the distance change of the target object approaching or departing from the shooting device or the mobile platform. Before, simultaneously with or after the distance change information is determined, the distance information between the target object and the mobile platform can be obtained by further combining the object distance between the target object and the shooting device in focusing, which is obtained by the shooting device in focusing the target object.
In one embodiment, after the mobile platform obtains the distance change information, it may further detect whether the distance change information has enabled determining that the target object is close to or far from the camera or the mobile platform; if the distance information is the same as the distance information, the mobile platform can directly control the shooting device to carry out focusing operation on the target object according to the distance information, and can synchronously control the shooting device and/or the mobile platform to realize the functions of tracking the target object and the like. If the mobile platform can not obtain that the target object is close to or far away from the camera device or the mobile platform according to the distance change information, the mobile platform can control the camera device to focus on the target object and acquire the object distance between the target object and the camera device during focusing; the distance change information can be corrected by utilizing the object distance, so that accurate distance information of the target object can be obtained, the mobile platform can be controlled to move along with the target object simultaneously or sequentially, and the shooting device is controlled to perform focusing operation on the target object.
Therefore, the distance change information of the target object is assisted by the object distance of the target object acquired by the shooting device, and the accurate distance information of the target object can be obtained, so that the functions of real-time tracking and the like of the target object are better realized, and meanwhile, hardware equipment is not additionally arranged in the scheme, so that the resource waste and the like can be reduced.
It should be noted that the scheme for acquiring the target distance mentioned in the embodiment of the present application may be applied to: the mobile platforms such as unmanned aerial vehicles and automatic driving automobiles can be loaded with cameras, even mobile phones and other cameras for shooting environmental images, and relatively accurate distance information to a target object is measured based on the shot images and the focusing of the cameras, so that the functions of detection, tracking and the like of the target object are realized. The embodiment of the present invention is described by taking a scene in which the unmanned aerial vehicle tracks the target object as an example, and does not limit the present invention.
Fig. 1 is a schematic structural diagram of a control system for obtaining a distance according to an embodiment of the present invention. In the embodiment of the present invention, as shown in fig. 1, the system mainly includes: an aircraft 101, a camera 102, etc. In other embodiments, the aircraft 101 and the camera 102 may be integrated or may be designed separately. The aircraft 101 is mainly connected to the camera device 102 directly or indirectly through a control device, and at least an image captured by the camera device 102 and relevant parameters of the camera device 102 after focusing, such as parameters of the focal length of the camera device 102 or parameters of the object distance directly calculated by the camera device 102, can be acquired. The aircraft 101 determines the target distance between the camera or the aircraft and the person to be detected (hereinafter referred to as the target object 103) shown in fig. 1 by a control device, which in one embodiment includes at least a processor and a memory device.
As mentioned above, the control device may be disposed in the aircraft 101 shown in fig. 1, that is, the control device is disposed inside the aircraft 101, and the shooting device is installed on the drone and is used for capturing images of the surrounding environment and sending the captured images to the aircraft 101, so as to facilitate the control device in the aircraft 101 to perform corresponding distance detection processing. The control device can obtain imaging characteristic information of the target object based on the image and obtain distance change information according to the imaging characteristic information of the target object; in addition, the control device can also receive the object distance of the target object collected by the shooting device and obtain the distance information between the target object and the mobile platform or the shooting device based on the object distance and the distance change information.
In other embodiments, the control device may be further disposed on the camera device, and the distance information between the target object and the camera device 102 or the aircraft 101 is obtained directly based on the image acquired by the camera device and the object distance determined by focusing. At this time, the control device may transmit the obtained distance information about the target object to the aircraft, so that the aircraft performs corresponding flight processing, such as flying toward the target object and flying away from the target object.
In other embodiments, the control device may be further disposed on a remote controller for controlling the aircraft 101, and the camera 102 transmits the acquired image and the object distance of the target object to the control device in the remote controller through wireless transmission, so that the control device may obtain the distance information of the target object based on the object distance and the distance change information of the target object. Then the control device sends the distance information to the aircraft 101 again through wireless, so that the aircraft 101 can conveniently follow the target object to move, and the shooting device 102 is controlled to carry out focusing control on the target object.
In other embodiments, the control device may even be a single device, and the single control device may receive the image and the object distance acquired by the shooting device through limited or wireless transmission, and obtain the distance information of the target object based on the object distance and the distance change information of the target object. The control device then sends the distance information of the target object to the aircraft 101 through limited or wireless transmission so that the aircraft 101 can track the target object and control the shooting device 102 to perform focusing operation on the target object.
In one implementation, after the control device obtains the object distance between the target object and the mobile platform or the camera through the camera 102, the control device may further search for the target object in the currently acquired image frame based on the object distance. If the target object is not found in the currently acquired image frame, that is, the unmanned aerial vehicle does not detect the target object currently, acquiring historical imaging characteristic information of the target object in the historically acquired historical image frame, for example, historical imaging characteristics such as a historical contour shape and a historical imaging size of the target object, and a historical object distance of the target object corresponding to the historical image frame; and searching for the target object in the currently acquired image frame based on the historical object distance and the historical imaging feature information of the target object. Specifically, on the basis of the above system and other architectures, the following description about the embodiment corresponding to fig. 2 may be referred to for the process of determining the distance information of a certain target object.
Referring to fig. 2, it is a schematic flow chart of a method for obtaining a target distance according to an embodiment of the present invention, and as shown in the figure, the method for obtaining a target distance according to the embodiment of the present invention may be implemented by the control device mentioned in the foregoing embodiment, and the method may specifically include the following steps.
S201, determining distance change information of the target object according to imaging characteristic information of the target object in the image. After the images acquired by the shooting device are acquired, imaging characteristic information of the target object in the first image frame and the second image frame sequentially acquired in the images can be compared, for example, whether imaging characteristic information such as the outline shape or the imaging size of the target object in the first image frame and the second image frame changes or not is compared, and distance change information of the target object can be obtained according to the change.
In one implementation, if the imaging size in the second image frame is larger than the imaging size in the first image frame, it is determined that the distance change information indicates that the distance between the target object and the mobile platform is reduced, that is, the target object moves in a direction approaching the photographing device or the mobile platform; if the imaging size in the second image frame is smaller than the imaging size in the first image frame, it is determined that the distance change information indicates that the distance between the target object and the moving platform is increased, that is, the target object is moving away from the photographing device or the moving platform. Through the comparison of the imaging sizes of the target object in the plurality of image frames, the moving direction of the target object relative to the moving platform or the shooting device can be obtained, and therefore the distance change information of the target object can be obtained.
In one implementation, after receiving an image collected by a camera, a target object in the image may be determined by comparing image features of a target object to be tracked in the currently received image with image features of the target object to be tracked according to image features of the target object to be tracked that have been identified and stored. The identification of the target object in the imagery may also be determined using other image recognition techniques.
S202, focusing the target object through the shooting device, and acquiring an object distance between the target object and the shooting device during focusing. In order to photograph the target object more clearly, the photographing device may automatically focus on the target object so that a clearer image about the target object can be acquired when the target object is focused. The focusing process of the camera is not described here. In one embodiment, after the moving direction (distance change information) of the target object relative to the moving platform is obtained, the photographing device may be further controlled to perform a focusing operation on the target object according to the distance change information, so that the target object can be clearly imaged, and then the object distance of the target object in focusing is obtained. For example, when it is determined that the target object is moving away from the imaging device based on the distance change information, the target object may be focused far, and conversely, the target object may be focused near. That is, the distance change information can play a certain role of assisting, and in the case where the distance change information can accurately specify the change in the distance of the target object with respect to the imaging device, it is possible to better assist the imaging device in focusing on the target object.
In one implementation, the distance change information includes a moving direction of the target object relative to the moving platform; the lens of the shooting device can be controlled to execute movement corresponding to the moving direction of the target object, so that the shooting device can focus on the target object, and the object distance between the target object and the shooting device during focusing can be acquired.
It should be noted that, in the related art, during the focusing operation of the camera, the lens needs to be moved back and forth, and whether the imaging parameters meet the preset focusing condition is tested at different image point distances (distances between the lens and the sensor). Since the distance between the target object and the photographing device is unpredictable, focusing operations for moving the lens back and forth are performed a plurality of times to try to find a focus point. The focusing operation of moving the lens back and forth results in a long duration of the focusing process, and in addition, the imaging quality is not high in the focusing process, which also reduces the accuracy of tracking the target object.
In the implementation manner, the control instruction is sent to the shooting device, and the control instruction is used for controlling the lens of the shooting device to rotate and move back and forth corresponding to the movement direction of the target object, so that the movement direction of the target object can predict the distance change between the target object and the shooting device to a certain extent, and the lens can be controlled to move in a single direction to measure the focus. Compared with the trial operation of moving the lens back and forth in the related art, the implementation mode can enable the target object to be focused in the image frame more quickly to form clear images. For example, when the target object moves far relative to the photographing device or the mobile platform, an instruction for controlling the lens of the photographing device to stretch is sent, so that the photographing device can focus on the target object more quickly to find a focus point.
In one implementation, the specific implementation manner of obtaining the object distance between the target object and the shooting device may be: and obtaining the image distance and the focal distance of the shooting device when the shooting device focuses on the target object, and calculating to obtain the object distance of the target object based on a Gaussian imaging formula (Gaussian imaging formula) according to the image distance and the focal distance of the target object. Wherein, the gaussian imaging formula may be:
wherein a is the object distance, b is the image distance, and f is the focal length. Specifically, the object distance a can be calculated according to a gaussian imaging formula by knowing the image distance b and the focal length f of the target object, and then the distance information of the target object can be obtained based on the object distance a, so that the target object can be accurately tracked.
It should be noted that, in different application scenarios for tracking a target object, parameters given by a gaussian imaging formula may be adjusted according to specific imaging parameters, which is not limited in the embodiment of the present invention.
S203, determining distance information between the target object and the mobile platform according to the object distance and the distance change information. The distance change information may indicate an approximate moving direction of the target object with respect to the moving platform. After receiving the object distance from the shooting device when the target object and the shooting device are in focus, the object distance can be used for correcting the distance change information, and further more accurate distance information between the target object and the mobile platform is obtained. In one embodiment, the distance information obtained may still be understood as information representing a change in distance between the target object relative to the camera or the mobile platform, but the distance information is more accurate than the mentioned distance change information.
In the application, after the distance change information between the target object and the shooting device or the mobile platform is obtained or simultaneously, the object distance between the target object and the shooting device or the mobile platform can be calculated, the distance information is obtained based on the distance change information and the object distance between the target object and the shooting device or the mobile platform, and the distance information indicates the accurate distance between the target object and the shooting device or the mobile platform, so that the unmanned aerial vehicle can accurately track the target object.
Referring to fig. 3 again, fig. 3 is a schematic flowchart of another method for obtaining a target distance according to an embodiment of the present invention, where as shown in the figure, the method for obtaining a target distance in the embodiment of the present application may be implemented by the control device mentioned in the above embodiment, and the method may specifically include the following steps.
S301, determining distance change information of the target object according to imaging characteristic information of the target object in the image.
S302, focusing the target object through the shooting device, and acquiring an object distance between the target object and the shooting device during focusing.
And S303, determining distance information between the target object and the mobile platform according to the object distance and the distance change information. It should be noted that, specific implementation manners of step S301, step S302, and step S303 may refer to descriptions of step S201, step S202, and step S203 in fig. 2, and are not described herein again. After the distance information is obtained in step S303, steps S304 and S305 described below may be optionally performed for achieving tracking of the target and subsequent auxiliary focusing than the next frame of image frame.
S304, controlling the mobile platform to move along with the target object according to the distance information. After the distance information of the target object is known, the mobile platform can be controlled to move along the direction of the movement of the target object based on the distance information, and the distance information can indicate that the target object approaches or moves away relative to the mobile platform.
S305, controlling the shooting device to focus on the target object according to the distance information. After the accurate distance information of the target object is known, a control instruction can be sent to the shooting device so that the shooting device focuses on the target object after the target object moves, and the target object can be clearly imaged in the image frame.
It should be noted that the execution sequence of step S304 is not sequential to that of step S305, that is, the aircraft executes the processes of "controlling the mobile platform to move along the direction of the target object based on the distance information" and "controlling the shooting device to focus on the target object according to the distance information", and is not sequential. It can be understood that the moving platform may be controlled to move along the moving direction of the target object based on the distance information, and then the process of controlling the photographing device to focus on the target object according to the distance information may be performed. The process of controlling the shooting device to focus on the target object according to the distance information can also be carried out, and then the moving platform is controlled to move along the moving direction of the target object based on the distance information. Or, a process of controlling the moving platform to move along the moving direction of the target object based on the distance information and a process of controlling the photographing device to focus on the target object according to the distance information may also be performed at the same time, which is not limited in the embodiment of the present invention.
In the method and the device, after the distance change information between the target object and the mobile platform is obtained, the object distance between the target object and the shooting device from the shooting device can be obtained, the distance change information is corrected by using the object distance, accurate distance information of the target object is obtained, the mobile platform can conveniently focus and track the target object according to the accurate distance information, and therefore accurate tracking of the target object is achieved.
Referring to fig. 4, fig. 4 is a schematic flowchart of another method for obtaining a target distance according to an embodiment of the present invention, where as shown in the present application, the method for obtaining a target distance may be implemented by the control device mentioned in the foregoing embodiment, and the method may specifically include the following steps.
S401, determining distance change information of the target object according to imaging characteristic information of the target object in the image.
S402, detecting whether imaging characteristic information of the target object in a plurality of image frames meets imaging change conditions. It should be noted that the distance change information obtained according to the imaging feature information of the target object may not accurately reflect the moving condition of the target object, for example, when the target object suddenly squats down, the imaging size of the target object changes greatly, but the distance between the target object and the shooting device or the moving platform does not change actually, and when the target object is tracked according to the obtained distance change information, unfavorable conditions such as target object loss, target object mistracking, and the like may occur.
In one implementation, the condition that the imaging feature information of the target object in the plurality of image frames satisfies the imaging change condition may be: on the first hand, the similarity between the contour shape of the target object in the current image frame and the contour shape of the target object in the adjacent image frame of the current image frame is smaller than a preset similarity threshold, otherwise, the imaging change condition is not met, and certainly, the condition that the similarity is smaller than or equal to the preset similarity threshold can be considered to be met; and/or, in the second aspect, the difference between the imaging size of the target object in the current image frame and the imaging size of the target object in the adjacent image frame of the current image frame is smaller than the preset size threshold, otherwise, the imaging change condition is not met, and of course, it may be considered that the imaging change condition is met if the imaging change condition is smaller than or equal to the preset size threshold. Or, whether the imaging characteristic information satisfies the imaging change condition may be determined based on the continuity of the pixel change of the target object in the image, and if not, the imaging change condition is not satisfied, and if continuously changed, the imaging change condition is satisfied.
In one implementation, when the capturing device acquires a current image frame, it may first determine an adjacent image frame of the current image frame and compare the current image frame with the adjacent image frame. Further, the contour shape of the target object in the current image frame and the contour shape of the target object in the adjacent image frame are obtained by calculating the pixel point characteristics of the target object in the current image frame and the pixel point characteristics of the target object in the adjacent image frame. If the similarity between the contour shape of the target object in the current image frame and the contour shape of the target object in the adjacent image frame is smaller than (or equal to or smaller than) a preset similarity threshold, it indicates that the change of the pixel points of the target object in the current image frame and the adjacent image frame does not have continuity, that is, the contour shape of the target object in the current image frame is greatly different from the contour shape of the target object in the adjacent image frame.
Optionally, the pixel point characteristics may include characteristics such as an imaging center, an image height, or a pixel point number of the target object. The imaging center may be used to characterize the location of the imaging. The image height or the number of pixels can be used to characterize the imaging size. Taking the number of the pixels as an example, the number of the pixels corresponding to the target object determined in the current frame is 1000 pixels, and the number of the pixels corresponding to the target object determined in the previous frame is 20000 pixels, which represents that the number of the pixels has a large jump, so that the target object identified in the current frame may be wrong.
Taking fig. 5a and 5b as an example for explanation, it is assumed that the preset similarity threshold is 90%, where fig. 5a is a current image frame acquired by the shooting device, fig. 5b is an adjacent image frame of the current image frame acquired by the shooting device, the adjacent image frame may be, for example, a previous image frame or an image frame with a shooting interval time of 0.5 seconds, and the target object is a human object in the current image frame. In fig. 5a the target user is standing normally, whereas in fig. 5b the target user jumps up, resulting in a change of the contour shape or size of the target user in the image, but not actually walking. By comparing fig. 5a and 5b, it can be known that the human subject has a difference between the contour shapes in fig. 5a and 5b, and it can be assumed that the degree of similarity between the contour shapes in fig. 5a and 5b of the human subject is 80%, and it can be known that 80% is less than the preset degree of similarity 90%, so it is determined that the imaging characteristic information of the target subject in the plurality of image frames does not satisfy the imaging change condition.
It should be noted that, in the embodiment of the present invention, the preset similarity threshold and the preset size threshold are not limited. If the imaging change condition is satisfied, it is considered that the target object is actually moved far or moved in, and S403 and S404 described below are executed, or only one of the steps is executed, and if the imaging change condition is not satisfied, it is considered that it is uncertain whether the target object is moved far or moved in, and at this time, S405 to S408 described below are executed.
And S403, controlling the mobile platform to move along with the target object according to the distance change information. That is, when it is known that the imaging characteristic information of the target object satisfies the imaging change condition, the mobile platform may be controlled to follow the target object according to the distance change information of the target object.
And S404, controlling the shooting device to focus on the target object according to the distance change information. Focusing can be performed directly based on the distance change information so that the target object is clearly imaged in the image frame.
It should be noted that the execution sequence of step S403 and step S404 is not sequential, and the specific implementation of step S403 and step S404 may refer to the description of step S304 and step S305 in fig. 3.
S405, focusing the target object through the shooting device, and acquiring the object distance between the target object and the shooting device during focusing. In one implementation, if it is considered that the obtained distance change information of the target object does not truly reflect the movement of the target object, a focusing operation needs to be performed on the target object by the shooting device to obtain an object distance between the target object and the shooting device during focusing, where the focusing operation may be based on a common focusing method. In one embodiment, a focusing control instruction may be sent to the photographing device to enable the photographing device to focus the target object, so as to obtain an object distance between the target object and the photographing device, and receive the object distance acquired from the photographing device, where the object distance reflects distance information between the current target object and the photographing device.
S406, determining distance information between the target object and the mobile platform according to the object distance and the distance change information.
S407, controlling the mobile platform to move along with the target object according to the distance information.
And S408, controlling the shooting device to focus on the target object according to the distance information.
It should be noted that the execution sequence of S407 and S408 is not sequential, or only S407 is executed, or only S408 is executed, and the specific implementation of S407 and S408 may refer to the description of step S304 and step S305 in fig. 3.
In the embodiments of the present invention, the detailed implementation of some steps may refer to the description of related contents in the foregoing embodiments, which are not repeated herein.
Therefore, after the distance change information of the target object is determined, whether imaging characteristic information of the target object in a plurality of image frames meets imaging conditions can be detected, if the imaging characteristic information meets the imaging conditions, the focusing operation of the shooting device can be directly controlled according to the distance change information, the time for processing the distance change information of the target object can be saved, and the tracking speed of the target object can be improved. And if the imaging condition is not satisfied, acquiring an object distance about the target object acquired by a shooting device, and correcting the distance change information by using the object distance so as to acquire accurate distance information of the target object. Through the embodiment, the unmanned aerial vehicle can be helped to accurately track the target object, and the problem that the target object cannot be accurately tracked due to the uncertain distance information of the target object is avoided.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention. As shown in fig. 6, the mobile platform may include a camera 601, a control device 602, and the like.
In one implementation manner, the shooting device 601 sends the acquired image frame and the adjacent image frame to the control device 602, and correspondingly, the control device 602 receives the image frame and the adjacent image frame acquired from the shooting device 601 and performs feature extraction on the image frame to obtain a target object to be tracked.
In one implementation, the camera 601 may further send the acquired image frames and the calculated object distance to the control device 602, and accordingly, the control device 602 receives the image frames and the object distance from the camera 601 and performs the related processing such as the above, thereby obtaining more accurate distance information about the target object. So that the mobile platform can more accurately track the target object and also assist the focusing operation of the photographing device 601. According to the invention, information (images and object distances) acquired by the shooting device 601 is interacted with the control device 602, so that the unmanned aerial vehicle can correct the distance change information according to the object distance from the shooting device 601 under the condition that the unmanned aerial vehicle initially obtains the distance change information of the target object, so that accurate distance information of the target object is obtained, and the unmanned aerial vehicle is helped to realize accurate tracking of the target object.
Referring to fig. 7, fig. 7 is a schematic diagram of a Gaussian imaging formula (Gaussian imaging format) according to an embodiment of the present invention. The schematic diagram of the Gaussian imaging formula comprises: a target object 701, a focus lens 702, an image sensor 703. The gaussian imaging formula is:
wherein a is the object distance, b is the image distance, and f is the focal length. That is, the principle of the gaussian imaging formula is: the sum of the reciprocal of the object distance and the reciprocal of the image distance of the target object is equal to the reciprocal of the focal distance.
Specifically, the control device may obtain the object distance based on an image distance and a focal distance of the photographing device when focusing on the target object and based on a gaussian imaging formula.
It should be noted that, in different application scenarios where the unmanned aerial vehicle tracks the target object, the parameters given by the gaussian imaging formula may be adjusted according to the lens parameters, which is not limited in the embodiment of the present invention.
It can be seen that, under the condition that the control device receives the image distance and the focal length of the target object collected by the shooting device, the object distance between the target object and the shooting device can be obtained based on a Gaussian imaging formula, so that accurate distance information of the target object is obtained, and the unmanned aerial vehicle can accurately track the target object.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a control device according to an embodiment of the present invention, where the control device may be used to implement part or all of the steps in the method embodiments shown in fig. 2 to fig. 4, and the control device at least includes a receiving module 801, a processing module 802, a correcting module 803, and a control module 804, where:
the receiving module 801 is configured to: receiving image frames and adjacent image frames collected by a shooting device;
the receiving module 801 is further configured to: receiving an object distance obtained by a shooting device in the process of focusing control on a target object;
the processing module 802 is configured to: processing the image frame and the adjacent image frame of the image frame to obtain the distance change information of the target object;
the processing module 802 is further configured to: determining the object distance of the target object according to the distance change information of the target object;
the correction module 803 is used for: and correcting the distance change information according to the object distance to obtain accurate distance information between the target object and the mobile platform.
In one implementation, the control module 804 is configured to: and controlling the mobile platform to move along with the target object according to the distance information.
In one implementation, the control module 804 is configured to: and controlling the shooting device to focus the target object according to the distance information.
In one implementation, the control module 804 is configured to: controlling a lens of the photographing device to perform a motion corresponding to the moving direction of the target object so that the photographing device focuses on the target object;
and acquiring the object distance between the target object and the shooting device in focusing.
In one implementation, the processing module 802 is configured to: searching for the target object in a currently acquired image frame based on the object distance.
In one implementation, the processing module 802 is configured to: if the target object is not found in the currently acquired image frame, acquiring historical imaging characteristic information of the target object in a historical acquired historical image frame and a historical object distance of the target object corresponding to the historical image frame;
searching for the target object in the currently acquired image frame based on the historical object distance and the historical imaging feature information of the target object.
In one implementation, the processing module 802 is configured to: detecting whether imaging characteristic information of the target object in a plurality of image frames meets an imaging change condition;
and if not, focusing the target object through the shooting device, and acquiring the object distance between the target object and the shooting device during focusing.
In one implementation, the processing module 802 is configured to: and if so, controlling the focusing operation of the shooting device according to the distance change information.
In one implementation, the processing module 802 is configured to: comparing the imaging sizes of the target object in a first image frame and a second image frame which are sequentially collected in the image;
determining that the distance change information indicates that the distance between the target object and the mobile platform is reduced if the imaging size in the second image frame is greater than the imaging size in the first image frame;
determining that the distance change information indicates an increase in the distance between the target object and the mobile platform if the imaging size in the second image frame is less than the imaging size in the first image frame.
In one implementation, the processing module 802 is configured to: and obtaining the object distance according to the image distance and the focal distance of the shooting device when the target object is focused and based on a Gaussian imaging formula.
It should be noted that details that are not mentioned in the embodiment corresponding to fig. 8 and specific implementation manners of the steps executed by each module may refer to the embodiments shown in fig. 2 to fig. 4 and the foregoing details, which are not described herein again.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a control device according to an embodiment of the present disclosure, where the control device 900 according to the embodiment of the present disclosure includes: a storage 901 and a processor 902. The storage 901 may include a volatile memory (volatile memory), such as a random-access memory (RAM); the storage 901 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a solid-state drive (SSD), or the like; the storage 901 may also comprise a combination of memories of the kind described above.
The processor 902 may be a Central Processing Unit (CPU). The processor 902 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or the like. The PLD may be a field-programmable gate array (FPGA), a General Array Logic (GAL), or the like.
The control device according to the embodiment of the present invention can be used to implement the method implemented by the embodiments of the present application shown in fig. 2 to fig. 4 through the processor 902, for convenience of description, only the portion related to the embodiments of the present application is shown, and please refer to the embodiments of the present application shown in fig. 2 to fig. 4 for specific implementation.
In one embodiment, the storage device 901 stores program code, and the processor 902 calls the program code in the memory, and when the program code is executed, the processor 902 is configured to: determining distance change information of a target object according to imaging characteristic information of the target object in an image, wherein the image is acquired by the shooting device; focusing the target object through the shooting device, and acquiring the object distance between the target object and the shooting device during focusing; and determining distance information between the target object and the mobile platform according to the object distance and the distance change information. And controlling the mobile platform to move along with the target object based on the distance information, and/or controlling the shooting device to focus on the target object based on the distance information.
In one implementation, the processor 902 is configured to: and controlling the mobile platform to move along with the target object according to the distance information.
In one implementation, the processor 902 is configured to: and controlling the shooting device to focus the target object according to the distance information.
In one implementation, the processor 902 is configured to: controlling a lens of the photographing device to perform a motion corresponding to the moving direction of the target object so that the photographing device focuses on the target object; and acquiring the object distance between the target object and the shooting device in focusing.
In one implementation, the processor 902 is configured to: searching for the target object in a currently acquired image frame based on the object distance.
In one implementation, the processor 902 is configured to: if the target object is not found in the currently acquired image frame, acquiring historical imaging characteristic information of the target object in a historical acquired image frame and a historical object distance of the target object corresponding to the historical image frame; searching for the target object in the currently acquired image frame based on the historical object distance and the historical imaging feature information of the target object.
In one implementation, the processor 902 is configured to: detecting whether imaging characteristic information of the target object in a plurality of image frames meets an imaging change condition; and if not, focusing the target object through the shooting device, and acquiring the object distance between the target object and the shooting device during focusing.
In one implementation, the processor 902 is configured to: and if so, controlling the focusing operation of the shooting device according to the distance change information.
In one implementation, the processor 902 is configured to: comparing the imaging sizes of the target object in a first image frame and a second image frame which are sequentially collected in the image; determining that the distance change information indicates that the distance between the target object and the mobile platform is reduced if the imaging size in the second image frame is greater than the imaging size in the first image frame; determining that the distance change information indicates an increase in the distance between the target object and the mobile platform if the imaging size in the second image frame is less than the imaging size in the first image frame.
In one implementation, the processor 902 is configured to: and obtaining the object distance according to the image distance and the focal distance of the shooting device when the target object is focused and based on a Gaussian imaging formula.
The control device provided in this embodiment can execute the method for obtaining the target distance mentioned in the foregoing embodiment through the processor 902, and the execution manner and the beneficial effect are similar, and are not described again here.
An embodiment of the present invention further provides a mobile platform, where the mobile platform includes: a power assembly, a storage device, and a controller; the power assembly is used for driving the mobile platform to move; the power assembly can be formed by components such as a motor used by a rotor unmanned aerial vehicle, an electronic speed regulator and the like. Alternatively, the power assembly may be, for example, a vehicle power system built around an engine in an unmanned vehicle, or the like.
Program instructions are stored in the storage device;
the controller calls the program instruction and is used for determining distance change information of the target object according to imaging characteristic information of the target object in an image, and the image is acquired by the shooting device;
focusing the target object through the shooting device to obtain an object distance between the target object and the shooting device during focusing;
and determining the distance information between the target object and the mobile platform according to the object distance and the distance change information.
In one implementation, the controller is to: and controlling the mobile platform to move along with the target object according to the distance information.
In one implementation, the controller is to: and controlling the shooting device to focus the target object according to the distance information.
In one implementation, the controller is to: controlling a lens of the photographing device to perform a motion corresponding to the moving direction of the target object so that the photographing device focuses on the target object; and acquiring the object distance between the target object and the shooting device in focusing.
In one implementation, the controller is to: searching for the target object in a currently acquired image frame based on the object distance.
In one implementation, the controller is to: if the target object is not found in the currently acquired image frame, acquiring historical imaging characteristic information of the target object in a historical acquired image frame and a historical object distance of the target object corresponding to the historical image frame;
searching for the target object in the currently acquired image frame based on the historical object distance and the historical imaging feature information of the target object.
In one implementation, the controller is to: detecting whether imaging characteristic information of the target object in a plurality of image frames meets an imaging change condition;
and if not, focusing the target object through the shooting device, and acquiring the object distance between the target object and the shooting device during focusing.
In one implementation, the controller is to: and if so, controlling the focusing operation of the shooting device according to the distance change information.
In one implementation, the controller is to: comparing the imaging sizes of the target object in a first image frame and a second image frame which are sequentially collected in the image;
determining that the distance change information indicates that the distance between the target object and the mobile platform is reduced if the imaging size in the second image frame is greater than the imaging size in the first image frame;
determining that the distance change information indicates an increase in the distance between the target object and the mobile platform if the imaging size in the second image frame is less than the imaging size in the first image frame.
In one implementation, the controller is to: and obtaining the object distance according to the image distance and the focal distance of the shooting device when the target object is focused and based on a Gaussian imaging formula.
The mobile platform provided in this embodiment can execute the method for obtaining the target distance provided in the foregoing embodiment, and the execution manner and the beneficial effects are similar, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware form, and can also be realized in a form of hardware and a software functional module.
The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (23)
1. A method for obtaining a target distance is characterized in that a mobile platform carries a shooting device, and comprises the following steps:
determining distance change information of a target object according to imaging characteristic information of the target object in an image, wherein the image is acquired by the shooting device;
focusing the target object through the shooting device to obtain an object distance between the target object and the shooting device during focusing;
and determining the distance information between the target object and the mobile platform according to the object distance and the distance change information.
2. The method of claim 1, wherein the method further comprises:
and controlling the mobile platform to move along with the target object according to the distance information.
3. The method of claim 1 or 2, wherein the method further comprises:
and controlling the shooting device to focus the target object according to the distance information.
4. The method of claim 1, wherein the distance change information includes a direction of movement of the target object relative to the mobile platform;
the focusing the target object through the shooting device to obtain the object distance between the target object and the shooting device in focusing comprises:
controlling a lens of the photographing device to perform a motion corresponding to the moving direction of the target object so that the photographing device focuses on the target object;
and acquiring the object distance between the target object and the shooting device in focusing.
5. The method of claim 1, wherein the image comprises an image frame, the method further comprising:
searching for the target object in a currently acquired image frame based on the object distance.
6. The method of claim 5, wherein the method further comprises:
if the target object is not found in the currently acquired image frame, acquiring historical imaging characteristic information of the target object in a historical acquired historical image frame and a historical object distance of the target object corresponding to the historical image frame;
searching for the target object in the currently acquired image frame based on the historical object distance and the historical imaging feature information of the target object.
7. The method of any one of claims 1-6, wherein before focusing the target object with the camera to obtain the object distance between the target object and the camera when in focus, further comprising:
detecting whether imaging characteristic information of the target object in a plurality of image frames meets an imaging change condition;
and if not, focusing the target object through the shooting device, and acquiring the object distance between the target object and the shooting device during focusing.
8. The method of claim 7, wherein the method further comprises:
and if so, controlling the focusing operation of the shooting device according to the distance change information.
9. The method of claim 7, wherein the imaging characteristic information includes a contour shape and/or an imaging size of the target object imaging.
10. The method of claim 9, wherein the imaging-varying condition comprises:
the contour shape similarity in the adjacent image frames is smaller than a preset similarity threshold; and/or
The difference in the imaging sizes in adjacent image frames is less than a preset size threshold.
11. The method of any of claims 1-10, wherein the imaging characteristic information includes an imaging size of the target object;
determining distance change information of a target object according to imaging characteristic information of the target object in an image, wherein the distance change information comprises the following steps:
comparing the imaging sizes of the target object in a first image frame and a second image frame which are sequentially collected in the image;
determining that the distance change information indicates that the distance between the target object and the mobile platform is reduced if the imaging size in the second image frame is greater than the imaging size in the first image frame;
determining that the distance change information indicates an increase in the distance between the target object and the mobile platform if the imaging size in the second image frame is less than the imaging size in the first image frame.
12. The method of any one of claims 1-11, wherein focusing the target object by the camera to obtain the object distance between the target object and the lens in focus comprises:
and obtaining the object distance according to the image distance and the focal distance of the shooting device when the target object is focused and based on a Gaussian imaging formula.
13. A control device, characterized in that the control device comprises: a storage device and a processor;
program instructions are stored in the storage device;
the processor calls the program instruction for
Determining distance change information of a target object according to imaging characteristic information of the target object in an image, wherein the image is acquired by the shooting device;
focusing the target object through the shooting device to obtain an object distance between the target object and the shooting device during focusing;
and determining the distance information between the target object and the mobile platform according to the object distance and the distance change information.
14. The control device of claim 13, wherein the processor is further configured to
And controlling the mobile platform to move along with the target object according to the distance information.
15. A control device according to claim 13 or 14, wherein the processor is further adapted to
And controlling the shooting device to focus the target object according to the distance information.
16. The control device of claim 13, wherein the processor is further configured to
Controlling a lens of the photographing device to perform a motion corresponding to the moving direction of the target object so that the photographing device focuses on the target object;
and acquiring the object distance between the target object and the shooting device in focusing.
17. The control device of claim 13, wherein the processor is further configured to
Searching for the target object in a currently acquired image frame based on the object distance.
18. The control device of claim 17, wherein the processor is further configured to
If the target object is not found in the currently acquired image frame, acquiring historical imaging characteristic information of the target object in a historical acquired image frame and a historical object distance of the target object corresponding to the historical image frame;
searching for the target object in the currently acquired image frame based on the historical object distance and the historical imaging feature information of the target object.
19. The control device of claims 13-18, wherein the processor is further configured to
Detecting whether imaging characteristic information of the target object in a plurality of image frames meets an imaging change condition;
and if not, focusing the target object through the shooting device, and acquiring the object distance between the target object and the shooting device during focusing.
20. The control device of claim 19, wherein the processor is further configured to
And if so, controlling the focusing operation of the shooting device according to the distance change information.
21. The control device of claims 13-20, wherein the processor is further configured to
Comparing the imaging sizes of the target object in a first image frame and a second image frame which are sequentially collected in the image;
determining that the distance change information indicates that the distance between the target object and the mobile platform is reduced if the imaging size in the second image frame is greater than the imaging size in the first image frame;
determining that the distance change information indicates an increase in the distance between the target object and the mobile platform if the imaging size in the second image frame is less than the imaging size in the first image frame.
22. The control device of claims 13-20, wherein the processor is further configured to
And obtaining the object distance according to the image distance and the focal distance of the shooting device when the target object is focused and based on a Gaussian imaging formula.
23. A mobile platform, comprising: a power assembly, a storage device, and a controller;
the power assembly is used for driving the mobile platform to move;
program instructions are stored in the storage device;
the controller calls the program instruction for
Determining distance change information of a target object according to imaging characteristic information of the target object in an image, wherein the image is acquired by the shooting device;
focusing the target object through the shooting device to obtain an object distance between the target object and the shooting device during focusing;
and determining the distance information between the target object and the mobile platform according to the object distance and the distance change information.
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| PCT/CN2019/112383 WO2021077270A1 (en) | 2019-10-21 | 2019-10-21 | Method for obtaining target distance, and control device and mobile platform |
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| CN113391644B (en) * | 2021-06-11 | 2022-06-17 | 中新国际联合研究院 | Unmanned aerial vehicle shooting distance semi-automatic optimization method based on image information entropy |
| CN113866782A (en) * | 2021-09-03 | 2021-12-31 | 维沃移动通信（杭州）有限公司 | Image processing method and device and electronic equipment |
| CN114143594A (en) * | 2021-12-06 | 2022-03-04 | 百度在线网络技术（北京）有限公司 | Video picture processing method, device and equipment and readable storage medium |
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