Granted Patent B2

US 12,293,530 · App. 18/646,407 · Granted May 6, 2025

Inventors: Shangjian Chen (Hangzhou, CN); Jiangfeng Wang (Hangzhou, CN); Jun Zheng (Hangzhou, CN); Yuju Yang (Hangzhou, CN); Lidan Zhang (Hangzhou, CN)

Assignee: SCANTECH (HANGZHOU) CO., LTD.

G06T7/246G06T7/73G06V10/44

Abstract

Claims (81)

1. A tracking method for a tracking measurement system comprising a tracking apparatus, the method comprising:

acquiring a current tracking distance between the tracking apparatus and a to-be-tracked object; and

determining, based on the current tracking distance, a tracking parameter level for the tracking apparatus,

wherein the tracking parameter level comprises at least one of:

a camera exposure parameter for the tracking apparatus; and

a tracking feature parameter for the to-be-tracked object, the tracking feature parameter comprising:

a light supplementing parameter when a tracking feature of the to-be-tracked object emits light passively; and

a light emitting parameter when the tracking feature emits light actively.

2. The tracking method according to claim 1 , further comprising:

acquiring a tracking feature of the to-be-tracked object;

determining, based on the tracking feature of the to-be-tracked object, location information of the to-be-tracked object; and

determining, based on the location information, the current tracking distance between the tracking apparatus and the to-be-tracked object.

3. The tracking method according to claim 2 , further comprising:

acquiring, based on a preset initial tracking parameter level, an initial tracking image of the to-be-tracked object; and

determining a tracking feature from the initial tracking image.

4. The tracking method according to claim 1 , wherein determining, based on the current tracking distance, a tracking parameter level for the tracking apparatus comprises:

determining, based on the current tracking distance, a corresponding distance interval; and

determining, based on the distance interval, a tracking parameter level for tracking the to-be-tracked object from a preset correspondence, wherein the correspondence is a mapping between a plurality of distance intervals and a plurality of tracking parameter levels.

5. The tracking method according to claim 4 , wherein determining, based on the current tracking distance, a corresponding distance interval comprises:

acquiring a previous historical tracking distance between the tracking apparatus and the to-be-tracked object within a preset period of time; and

based on determining that the current tracking distance is outside a distance interval corresponding to the previous historical tracking distance two or more consecutive times, adjusting the distance interval corresponding to the current tracking distance.

6. The tracking method according to claim 4 , wherein determining, based on the current tracking distance, a corresponding distance interval comprises:

acquiring a previous historical tracking distance between the tracking apparatus and the to-be-tracked object within a preset period of time; and

based on determining that the previous historical tracking distance within the preset period of time does not exist, determining a distance interval that includes the current tracking distance as the distance interval corresponding to the current tracking distance.

7. The tracking method according to claim 4 , wherein determining, based on the current tracking distance, a corresponding distance interval comprises:

acquiring a previous historical tracking distance between the tracking apparatus and the to-be-tracked object within a preset period of time;

based on determining that the previous historical tracking distance within the preset period of time exists, acquiring a steady state interval of a historical distance interval corresponding to the previous historical tracking distance, wherein the steady state interval comprises the distance interval and a buffer interval preset at an end of the distance interval; and

determining, based on a comparison of the current tracking distance with the steady state interval of the historical distance interval, the distance interval corresponding to the current tracking distance.

8. The tracking method according to claim 7 , wherein determining, based on a comparison of the current tracking distance with the steady state interval of the historical distance interval, the distance interval corresponding to the current tracking distance comprises:

based on determining that the current tracking distance is included in the steady state interval of the historical distance interval, determining that the current tracking distance corresponds to the same distance interval as the previous historical tracking distance.

9. The tracking method according to claim 7 , wherein determining, based on a comparison of the current tracking distance with the steady state interval of the historical distance interval, the distance interval corresponding to the current tracking distance comprises:

based on determining that the current tracking distance is greater than a first limit value of the steady state interval of the previous historical tracking distance, causing the current tracking distance to correspond to a distance interval adjacent to the historical distance interval and having greater distance values; and

based on determining that the current tracking distance is smaller than a second limit value of the steady state interval of the previous historical tracking distance, causing the current tracking distance to correspond to a distance interval adjacent to the historical distance interval and having smaller distance values, wherein the first limit value is greater than the second limit value.

10. The tracking method according to claim 1 , wherein the tracking apparatus comprises:

a camera configured to acquire a tracking image of the to-be-tracked object,

wherein an exposure parameter of the camera is adjusted based on the current tracking distance between the tracking apparatus and the to-be-tracked object, and

wherein the exposure parameter includes a shutter time of the camera.

11. The tracking method according to claim 10 , wherein the tracking apparatus further comprises:

a light supplementing module configured to supplement light when the camera acquires the tracking image of the to-be-tracked object,

wherein the light supplementing parameter of the light supplementing module is adjusted based on the current tracking distance between the tracking apparatus and the to-be-tracked object.

12. The tracking method according to claim 1 , wherein the tracking measurement system comprises a measurement apparatus that further comprises:

the tracking feature configured to assist the tracking apparatus in positioning the measurement apparatus from an acquired tracking image,

wherein the tracking feature comprises a light emitting module,

wherein the light emitting parameter of the light emitting module is adjusted based on the current tracking distance from the tracking apparatus, and

wherein the light emitting parameter includes a light emitting power.

13. A tracking system for tracking measurement, comprising:

a tracking parameter adjustment module configured to:

acquire a current tracking distance between a tracking apparatus and a to-be-tracked object; and

determine, based on the current tracking distance, a tracking parameter level for the tracking apparatus, wherein

wherein the tracking parameter level comprises at least one of:

a camera exposure parameter for the tracking apparatus; and

a tracking feature parameter for the to-be-tracked object, the tracking feature parameter comprising:

a light supplementing parameter when a tracking feature of the to-be-tracked object emits light passively; and

a light emitting parameter when the tracking feature emits light actively.

14. The tracking system according to claim 13 , further comprising:

a tracking distance determination module configured to:

acquire a tracking feature of the to-be-tracked object;

determine, based on the tracking feature, location information of the to-be-tracked object; and

determine, based on the location information, the current tracking distance.

15. The tracking system according to claim 14 , further comprising:

a tracking image determination module configured to acquire, based on a preset initial tracking parameter level, an initial tracking image of the to-be-tracked object; and

a tracking feature determination module configured to determine a tracking feature from the initial tracking image.

16. The tracking system according to claim 13 , further comprising:

a distance interval determination module configured to determine, based on the current tracking distance, a corresponding distance interval,

wherein the tracking parameter adjustment module is further configured to:

determine, based on the distance interval, a tracking parameter level for tracking the to-be-tracked object from a preset correspondence, wherein the correspondence is a mapping between a plurality of distance intervals and a plurality of tracking parameter levels.

17. The tracking system according to claim 16 , wherein the distance interval determination module is configured to:

acquire a previous historical tracking distance between the tracking apparatus and the to-be-tracked object within a preset period of time; and

based on determining that the current tracking distance is outside a distance interval corresponding to the previous historical tracking distance two or more consecutive times, adjust the distance interval corresponding to the current tracking distance.

18. The tracking system according to claim 16 , wherein the distance interval determination module is configured to:

acquire a previous historical tracking distance between the tracking apparatus and the to-be-tracked object within a preset period of time; and

based on determining that the previous historical tracking distance within the preset period of time does not exist, determine a distance interval that includes the current tracking distance as the distance interval corresponding to the current tracking distance.

19. The tracking system according to claim 16 , wherein the distance interval determination module is configured to:

acquire a previous historical tracking distance between the tracking apparatus and the to-be-tracked object within a preset period of time;

based on determining that the previous historical tracking distance within the preset period of time exists, acquire a steady state interval of a historical distance interval corresponding to the previous historical tracking distance, wherein the steady state interval comprises the distance interval and a buffer interval preset at an end of the distance interval; and

determine, based on a comparison of the current tracking distance with the steady state interval of the historical distance interval, the distance interval corresponding to the current tracking distance.

20. The tracking system according to claim 19 , wherein the distance interval determination module is configured to:

based on determining that the current tracking distance is included in the steady state interval of the historical distance interval, determine that the current tracking distance corresponds to the same distance interval as the previous historical tracking distance.

21. The tracking system according to claim 19 , wherein the distance interval determination module is configured to:

based on determining that the current tracking distance is greater than a first limit value of the steady state interval of the previous historical tracking distance, cause the current tracking distance to correspond to a distance interval adjacent to the historical distance interval and having greater distance values; and

based on determining that the current tracking distance is smaller than a second limit value of the steady state interval of the previous historical tracking distance, cause the current tracking distance to correspond to a distance interval adjacent to the historical distance interval and having smaller distance values, wherein the first limit value is greater than the second limit value.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (11)