US 11,734,840 B2
Target tracking method, device, medium and apparatus
Yuxing Han, Guangdong (CN); Jiangtao Wen, Guangdong (CN); Jisheng Li, Guangdong (CN); and Yubin Hu, Guangdong (CN)
Assigned to BOYAN TECHNOLOGIES (SHENZHEN) CO., LTD, Guangdong (CN)
Filed by BOYAN TECHNOLOGIES (SHENZHEN) CO., LTD, Guangdong (CN)
Filed on Apr. 20, 2021, as Appl. No. 17/235,237.
Claims priority of application No. 202011562357.0 (CN), filed on Dec. 25, 2020.
Prior Publication US 2022/0207754 A1, Jun. 30, 2022
Int. Cl. G06T 7/292 (2017.01); G06T 7/30 (2017.01); G06T 7/246 (2017.01); G06V 20/40 (2022.01); G06T 3/40 (2006.01); G06F 18/22 (2023.01)
CPC G06T 7/292 (2017.01) [G06F 18/22 (2023.01); G06T 3/4038 (2013.01); G06T 7/248 (2017.01); G06T 7/30 (2017.01); G06V 20/46 (2022.01)] 12 Claims
OG exemplary drawing
 
1. A target tracking method, comprising:
performing object detection on all telephoto image frames captured by telephoto cameras in a multi-camera system, and constructing a detection point set based on object detection result for each frame of the telephoto images;
selecting a target tracking point for an object-to-be-tracked from each detection point set based on a starting tracking point for the object-to-be-tracked, wherein the starting tracking point is a starting position of the object-to-be-tracked in a video sequence of the telephoto cameras;
connecting the selected target tracking points as a tracking sequence for the starting tracking point;
wherein for intra-camera tracking of each of the telephoto cameras in the multi-camera system, the selecting a target tracking point for an object-to-be-tracked from each detection point set based on a starting tracking point for the object-to-be-tracked comprises: determining the target tracking point for the object-to-be-tracked in a next frame of the telephoto image based on Euclidean distance between each detection point in the next frame of the telephoto image of the telephoto camera and the target tracking point for the object-to-be-tracked in a previous frame of the telephoto image;
wherein the determining the target tracking point in a next frame of the telephoto image based on Euclidean distance between each detection point in the next frame of the telephoto image of the telephoto camera and the target tracking point in a previous frame of the telephoto image comprises:
if the minimum Euclidean distance in the Euclidean distances between each detection point in the next frame of telephoto image of the telephoto camera and the target tracking point in the previous frame of telephoto image is less than a preset threshold value, taking the detection point corresponding to the minimum Euclidean distance as the target tracking point in the next frame of telephoto image, and calculating a motion vector between the detection point corresponding to the minimum Euclidean distance and the target tracking point in the previous frame of telephoto image; and
if the minimum Euclidean distance in the Euclidean distances between each detection point in the next frame of the telephoto image of the telephoto camera and the target tracking point in the previous frame of the telephoto image is greater than the preset threshold value, determining the target tracking point in the next frame of the telephoto image based on the target tracking point in the previous frame of the telephoto image and the motion vector thereof.