Target tracking method and device, movable platform, and storage medium

Abstract

A target tracking method includes calling a first and second shooting assemblies to shoot an environment to obtain a first image and a second image, respectively; performing recognition on the second image to obtain a second tracking position area of a target object in the second image; adjusting a shooting attitude of the shooting device according to the second tracking position area to adjust the target object's location in a shooting frame of the first shooting assembly; determining a first tracking position area of the target object in the shooting frame of the first shooting assembly according to the second tracking position area of and a relative positional relationship between the first and second shooting assemblies; marking the target object in the first image according to the first tracking position area to obtain a marked first image; and sending the marked first image to a control terminal for displaying.

What is claimed is: 
     
         1 . A target tracking method applicable to a shooting device including a first shooting assembly and a second shooting assembly, comprising:
 calling the first shooting assembly to shoot an environment to obtain a first image;   calling the second shooting assembly to shoot the environment to obtain a second image;   performing target object recognition on the second image to obtain a tracking position area of a target object to be tracked in the second image;   adjusting a shooting attitude of the shooting device according to the tracking position area of the target object in the second image to adjust a location of the target object in a shooting frame of the first shooting assembly;   determining a tracking position area of the target object in the shooting frame of the first shooting assembly according to the tracking position area of the target object in the second image and a relative positional relationship between the first shooting assembly and the second shooting assembly;   marking the target object in the first image according to the tracking position area of the target object in the shooting frame of the first shooting assembly to obtain a marked first image; and   sending the marked first image to a control terminal of a movable platform carrying the shooting device, such that the control terminal displays the marked first image.   
     
     
         2 . The method according to  claim 1 , wherein adjusting the shooting attitude of the shooting device includes:
 adjusting at least one of an attitude of the movable platform including the shooting device or an attitude of a gimbal carrying the shooting device to adjust the shooting attitude of the shooting device according to the tracking position area of the target object in the second image.   
     
     
         3 . The method according to  claim 1 , wherein the first shooting assembly includes a thermal infrared imaging device, the second shooting assembly includes a visible light imaging device, and the second image includes an optical image. 
     
     
         4 . The method according to  claim 1 , wherein adjusting the shooting attitude of the shooting device includes:
 adjusting the shooting attitude of the shooting device according to the tracking position area of the target object in the second image to locate the target object in a preset position area of a shooting frame of the second shooting assembly.   
     
     
         5 . The method according to  claim 1 , wherein adjusting the shooting attitude of the shooting device includes:
 adjusting the shooting attitude of the shooting device according to the tracking position area of the target object in the shooting frame of the first shooting assembly.   
     
     
         6 . The method according to  claim 1 , comprising:
 sending the first image to the control terminal to cause the control terminal to display the first image;   wherein performing the target object recognition on the second image to obtain the tracking position area of the target object to be tracked in the second image includes:
 obtaining area indication information sent by the control terminal, the area indication information being determined by the control terminal by detecting a selection operation of the target object performed by a user on the first image displayed by the control terminal; and 
 determining the target object to be tracked in the second image to obtain the tracking position area of the target object in the second image according to the area indication information. 
   
     
     
         7 . The method according to the  claim 6 , wherein:
 the area indication information is first area indication information; and   determining the target object to be tracked in the second image to obtain the tracking position area of the target object in the second image includes:
 determining second area indication information of the second image according to the first area indication information and the relative positional relationship between the first shooting assembly and the second shooting assembly; and 
 performing the target recognition on an area indicated by the second area indication information in the second image to determine the target object to obtain the tracking position area of the target object in the second image. 
   
     
     
         8 . The method according to the  claim 1 , further comprising, after marking the target object in the first image and before sending the marked first image to the control terminal:
 extracting at least part of second image information; and   adding the at least part of the second image information to the marked first image.   
     
     
         9 . The method according to the  claim 1 , further comprising:
 obtaining the elative positional relationship between the first shooting assembly and the second shooting assembly.   
     
     
         10 . The method according to the  claim 9 , wherein obtaining the elative positional relationship includes:
 obtaining the elative positional relationship measured by a sensor in the movable platform.   
     
     
         11 . A movable platform comprising:
 a shooting device including a first shooting assembly and a second shooting assembly, imaging modes of the first shooting assembly and the second shooting assembly being different;   a communication interface;   a control terminal;   a memory storing a computer program including program instructions; and   a processor configured to execute the program instructions to:
 call the first shooting assembly to shoot an environment to obtain a first image; 
 call the second shooting assembly to shoot the environment to obtain a second image; 
 perform target object recognition on the second image to obtain a tracking position area of a target object to be tracked in the second image; 
 adjust a shooting attitude of the shooting device according to the tracking position area of the target object in the second image to adjust a location of the target object in a shooting frame of the first shooting assembly; 
 determine a tracking position area of the target object in the shooting frame of the first shooting assembly according to the tracking position area of the target object in the second image and a relative positional relationship between the first shooting assembly and the second shooting assembly; 
 mark the target object in the first image according to the tracking position area of the target object in the shooting frame of the first shooting assembly to obtain a marked first image; and 
 send, via the communication interface, the marked first image to the control terminal, such that the control terminal displays the marked first image. 
   
     
     
         12 . The movable platform according to the  claim 11 , further comprising:
 a gimbal carrying the shooting device;   wherein the processor is further configured to execute the program instructions to adjust at least one of an attitude of the movable platform or an attitude of the gimbal to adjust the shooting attitude of the shooting device according to the tracking position area of the target object in the second image.   
     
     
         13 . The movable platform according to the  claim 11 , wherein the first shooting assembly includes a thermal infrared imaging device, the second shooting assembly includes a visible light imaging device, and the second image includes an optical image. 
     
     
         14 . The movable platform according to  claim 11 , wherein the processor is further configured to execute the program instructions to:
 adjust the shooting attitude of the shooting device according to the tracking position area of the target object in second the image to locate the target object in a preset position area of a shooting frame of the second shooting assembly.   
     
     
         15 . The movable platform according to the  claim 11 , wherein the processor is further configured to execute the program instructions to:
 adjust the shooting attitude of the shooting device according to the tracking position area of the target object in the shooting frame of the first shooting assembly.   
     
     
         16 . The movable platform according to the  claim 11 , wherein:
 the communication interface is configured to send the first image to the control terminal to cause the control terminal to display the first image; and   the processor is further configured to execute the program instructions to:
 obtain area indication information sent by the control terminal, the area indication information being determined by the control terminal by detecting a selection operation of the target object performed by a user on the first image displayed by the control terminal; and 
 determine the target object to be tracked in the second image to obtain the tracking position area of the target object in the second image according to the area indication information. 
   
     
     
         17 . The movable platform according to the  claim 16 , wherein:
 the area indication information is first area indication information; and   the processor is further configured to:
 determine second area indication information of the second image according to the first area indication information and the relative positional relationship between the first shooting assembly and the second shooting assembly; and 
 perform the target recognition on an area indicated by the second area indication information in the second image to determine the target object to obtain the tracking position area of the target object in the second image. 
   
     
     
         18 . The movable platform according to the  claim 11 , wherein the processor is further configured to execute the program instructions to, after marking the target object in the first image and before sending the marked first image to the control terminal:
 extract at least part of the second image information; and   add in the at least part of the second image information to the marked first image.   
     
     
         19 . The movable platform according to the  claim 11 , wherein the processor is further configured to:
 obtain the elative positional relationship between the first shooting assembly and the second shooting assembly.   
     
     
         20 . The movable platform according to the  claim 19 , wherein the processor is further configured to:
 obtain the elative positional relationship measured by a sensor in the movable platform.