TWI738315B - Automatic tracking photographic system based on light label - Google Patents

Abstract

The present invention provides a automatic tracking photographic system based on light label comprising a light label device, a user device, a server, and a movable photo device. The light label device has a light mark that corresponds to a device-addressed information. The user device has a network function. The user device photos the light label device to obtain the device-addressed information and outputs a user information includes a user-addressed information according to the device-addressed information and an pose-addressed information. The server receives the user information via the internet to connect the user device and outputs a control signal according to the user-addressed information. The movable photo device receives the control signal and moves to the user’s position to photo.

Description

Automatic tracking and shooting system based on light tag

The invention provides an automatic tracking and shooting system, in particular an automatic tracking and shooting system based on light tags.

Modern people love to travel, and during the travel process they often use photography to get good memories, but when they arrive at a scenic spot or at a place where they want to take a photo, they cannot get a photo of the scenic spot or place at the same time as oneself without the assistance of others. For people who travel frequently, although fixed tripods and selfie sticks can be used to take group photos, there are also people who are not good at using these devices, plus they need to bring these devices to take pictures, which is not for tourists Very convenient.

In the modern era of automation, the ability to automatically take pictures with the camera is bound to be the future trend, but there will be positioning errors when the camera is used to automatically locate and track and take pictures, especially when the position of the person will move or move. A precise location can be used to take pictures.

The invention provides an automatic tracking and shooting system based on an optical tag. The automatic tracking and shooting system includes an optical tag device, a user device, a server, and a mobile camera. The optical label device has an optical label, and the optical label at least corresponds to device location information. The user device has a networking function, the optical tag device is photographed to obtain the device location information, and the user information including the user location information is output according to the device location information and the position information. The server is connected to the user device via the Internet to receive the user message, and outputs a control signal according to the user location information of the user message. The mobile photographing device receives the control signal, and moves to the user's position according to the control signal to perform photographing.

The present invention also provides an automatic tracking and shooting system based on an optical tag. The automatic tracking and shooting system includes an optical tag device, a user device, an external camera device, and a server. The optical label device has an optical label, and the optical label at least corresponds to device location information. The user device has a networking function, the optical tag device is photographed to obtain the device location information, and the user information including the user location information is output according to the device location information and the position information. The external photographing device and the optical label device have relative poses. The server is connected to the user device via the Internet to receive the user message, outputs a user confirmation signal based on the user location information of the user message, and the server receives a user matching signal through the external camera device to obtain user images Based on the user image, user matching is performed and a control signal is output. The mobile photographing device moves to the user's position according to the control signal output by the server and performs photographing.

Therefore, compared with the conventional technology, the present invention can accurately obtain the user's position in the three-dimensional space through the light tag, and automatically control the mobile camera to move to the user's position according to the user's position to shoot the user. Take pictures of the user without the assistance of others.

The detailed description and technical content of the present invention will now be described in conjunction with the drawings as follows. Furthermore, the figures in the present invention are not necessarily drawn according to actual proportions for the convenience of explanation, and these figures and their proportions are not used to limit the scope of the creation, and are described here first.

Please refer to "Figure 1" below, which is a block diagram of the optical tag-based automatic tracking and shooting system of the present invention, as shown in the figure:

The dotted line shown in "FIG. 1" refers to the photographing relationship between the devices. In addition, the user device 20 is in the hands of the user P, which is explained here first.

This embodiment provides an automatic tracking and shooting system 100 based on optical tags, which mainly includes an optical tag device 10, a user device 20, a server 30, and a mobile camera 40.

The optical label device 10 has an optical label, and the optical label corresponds to at least one device location information. The aforementioned optical label device 10 is a device that can transmit information through different light-emitting methods. Unlike traditional two-dimensional codes, the optical label has a long recognition distance, strong directivity, and is not restricted by visible light conditions. Therefore, the optical label can provide more information. Longer recognition distance and stronger information exchange ability. Generally, the optical label may include a controller and at least one light source. The controller can drive the light source in different modes so that the optical label can transmit different information to the outside. Each optical label can be assigned a piece of label information as the identification information of the optical label, and the identification information can obtain the device location information of the optical label device 10. In addition, the optical tag can obtain identification information through image capture of the optical tag by the user P and obtain device location information, and can also access and obtain corresponding services (such as webpage, location, model, etc.) by this.

The user device 20 has a networking function, and can have a photographing function to photograph the optical label device 10, and obtain the device location information of the optical label device 10 through the identification information. The user device 20 can be (but is not limited to) a mobile phone (Smart Phone), a tablet computer (Tablet), smart glasses (Smart Glasses), a wearable device (Wearable Devices), etc. with a shooting function, or other sensors and a camera lens. And the networking function can transmit the captured image and/or its information to other devices via the Internet, and the selection of these devices is not limited in the present invention.

The server 30 is connected to the user device 20 via the Internet to receive user messages. The aforementioned server 30 (Server) includes a central processing unit, a hard disk, a memory, etc., and the hardware cooperates to execute corresponding software (Software) to realize the functions and algorithms described in the present invention. The cooperative relationship between the hardware and the electrical signal is not within the scope of the present invention.

The mobile photographing device 40 receives the control signal, and moves to the user's position according to the control signal to perform photographing. The mobile photographing device 40 can be (but not limited to) drones, robots, autonomous vehicles, etc. with photographing functions, or any other devices with photographing and moving functions, and these devices are at the same time With positioning function, it can construct or confirm the absolute position of the device body in the three-dimensional space or the relative position with respect to other objects, which is not limited in the present invention.

In another embodiment, one or more sensors can be used in conjunction with the automatic tracking and shooting system 100 of the present invention to further calibrate the user's location information. In an implementation aspect, the sensor may be a sensor in the user device 20 (for example, an acceleration sensor, a gravity sensor, a satellite positioning GPS, etc.), and the user's position in the three-dimensional space is corrected through sensor data. In another embodiment, the sensor can also be any sensor arranged in the environment. Specifically, the sensors can be, for example, an infrared sensor or a laser area distance measuring instrument arranged around the optical tag device 10 Positioning devices such as those used to detect events or changes triggered in the environment, and send information related to the events or changes to other electronic devices (such as server 30 or user device 20), thereby correcting or inserting user location information to enhance The positioning accuracy of the user device 20 may continuously perform dynamic calibration. In another implementation aspect, the sensor can also be a device with sensors pre-installed in the environment, such as smart light poles (monitoring light poles), entrance and exit gates, etc., through facial recognition or other identity recognition methods Confirming the user's location, thereby correcting the user's location information to obtain a more accurate positioning result, is not limited in the present invention.

The hardware architecture of the present invention has been roughly described above. The algorithm and functions executed by the hardware in conjunction with the present invention will be further described later. Please also refer to "Figure 2", which reveals that the present invention is based on light. The schematic diagram of the process of the automatic tracking and shooting system of the label, as shown in the figure:

In the initial state, the user photographs the optical tag device 10 via the user device 20 to obtain the device location information (step S201).

In a feasible embodiment, the location information of the device may be the address information of the device itself in world coordinates (for example, World Geodetic System (WGS), latitude and longitude coordinate system, etc.). In other feasible embodiments, the device location information can also be a spatial coordinate system pre-established based on the user setting a relatively stable anchor point, or any other spatial coordinate information that can be used as an absolute or relative position reference. In the present invention There is no restriction in it.

After obtaining the location information of the device, the user device 20 calculates the pose information based on the captured light tag image and transmits a user message including the user location information to the server 30 through the networking function (step S202).

Specifically, after the user device 20 photographs the optical tag device 10 (usually after the identification is successful and the device location information is obtained), the user device 20 can use the built-in software to calculate the picture obtained by the user device 20, and further Obtain the posture information of the user device 20 relative to the optical tag device 10.

來做定義，所述的距離D指用戶裝置20與光標籤裝置10之間的相對距離，計算距離D的方法可以如下：在用戶裝置20取得光標籤裝置10的成像後，藉由軟體取得光標籤裝置10的物理尺寸資訊，再藉由圖片中光標籤裝置10的大小進行運算，取得相對距離（成像越大，距離越近；成像越小，距離越遠）。所述的方向

指用戶裝置20與光標籤裝置10之間的相對方向，計算方向

的方法可以如下：在用戶裝置20取得光標籤裝置10的成像後，藉由軟體取得光標籤裝置10的物理尺寸資訊，再藉由圖片中光標籤裝置10的畸變來進行運算（各邊長的角度比例），取得用戶裝置20的方向

，該方向

可以是直角坐標（x, y, z）的向量、亦可以是極座標（r, θ, Φ）的向量，於本發明中不予以限制。前述位姿資訊的取得亦可使用其他計算方式取得，於本發明中不予以限制。 The pose information refers to the relative position relationship between the user device 20 and the optical tag device 10. The relative position relationship can be calculated inversely by using various relative positioning algorithms known in the art to calculate the relative position of the user device 20 relative to the optical tag device 10. s position. The aforementioned relative positioning algorithm, such as PNP (Pespective-n-point), is a method for determining pose information based on images. In another embodiment, please refer to "Figure 3". The aforementioned pose information can be determined by distance D and direction

For definition, the distance D refers to the relative distance between the user device 20 and the optical tag device 10. The method of calculating the distance D can be as follows: After the user device 20 obtains the image of the optical tag device 10, the light is obtained by software. The physical size information of the label device 10 is calculated by the size of the optical label device 10 in the picture to obtain the relative distance (the larger the image, the closer the distance; the smaller the image, the farther the distance). Said direction

Refers to the relative direction between the user device 20 and the optical tag device 10, calculate the direction

The method can be as follows: after the user device 20 obtains the imaging of the optical label device 10, obtain the physical size information of the optical label device 10 through software, and then calculate the distortion of the optical label device 10 in the picture (the length of each side Angle ratio) to obtain the direction of the user device 20

, The direction

It can be a vector of rectangular coordinates (x, y, z) or a vector of polar coordinates (r, θ, Φ), which is not limited in the present invention. The aforementioned pose information can also be obtained using other calculation methods, and is not limited in the present invention.

After the user device 20 obtains the device location information and the pose information, the user location information is analyzed through software calculations. The aforementioned user location information can be the relative position of the user device 20 and the optical tag device 10, or the user location information can be converted into a world coordinate position (coordinates of the world coordinate system, such as latitude and longitude), or a scene coordinate position ( The coordinates of the scene coordinate system, such as the coordinate system established based on the set anchor point).

Following the above steps and continuing, the server 30 is connected to the user device 20 via the Internet to receive the user message. At this time, the server 30 will output a control signal according to the user location information of the user message (step S203).

The control signal includes user location information (or may further include a shooting command), where the user location information refers to the coordinate position of the user P, and the shooting command refers to a command signal for performing a shooting behavior.

In another embodiment, the aforementioned user device 20 can be selected by the built-in software shooting method, and the shooting method information is included in the user message. The shooting method may be (but not limited to) surround The shooting modes selected by the user P, such as shooting, front shooting, side shooting, etc., can be adjusted and changed in various ways according to actual needs, which are not limited in the present invention. After the aforementioned information is received by the server 30, the server 30 performs calculations according to the shooting mode selected by the user and outputs control signals (such as moving coordinates and shooting commands) to the mobile camera 40. When the mobile photographing device 40 receives the control signal, it will photograph the user P according to the photographing mode specified by the user. Specifically, the mobile camera 40 has a built-in movement command that can be adjusted according to the shooting mode, so that the mobile camera 40 can move on its own after receiving the shooting mode and shoot according to the shooting mode (for example, panoramic shooting, full-circle shooting). Shooting, 3D image creation, etc.). In another embodiment, the action command of the mobile camera 40 can be directly issued remotely from the server 30 to the mobile camera 40, which is not limited in the present invention.

Finally, the mobile camera device 40 receives the control signal, and moves to the user's position according to the control signal to take a picture. (Step S204).

In this embodiment, the server 30 can first transmit the user location information to the mobile camera 40, and control the mobile camera 40 to move to the user position. The user can then give the camera command to the mobile camera through the user device 20. The device 40 performs shooting. In another embodiment, the user can select a shooting command at the beginning through the user device 20, and send the user location information and shooting command to the server 30, and the server 30 also outputs control signals according to the user location information and shooting command. To the mobile camera 40, as soon as the mobile camera 40 moves to the user's position, the mobile camera 40 shoots the user according to the control signal. The sequence of execution of the above actions can be adjusted according to actual needs, and is not limited in the present invention.

In one of the feasible embodiments, the user device 20 can take the user's photo and send it to the mobile camera 40 or the server 30 to the mobile camera 40, so that the mobile camera 40 can respond to the user according to the user's photo. P to confirm. The aforementioned mobile photographing device 40 may have a facial recognition system (Facial Recognition System), which specifically refers to a computer technology that analyzes and compares human facial visual feature information for identity authentication. The calculation method of the aforementioned face recognition system can be (but not limited to) recognition algorithms based on facial feature points (feature-based recognition algorithms), and recognition algorithms based on the entire face image (appearance-based recognition algorithms) , Template-based recognition algorithms, recognition algorithms using neural network, recognition algorithms using SVM, or other recognition algorithms that can be used for face recognition The calculation method of the system is not limited in the present invention.

Please refer to "Figure 4" below, which is a block diagram of another embodiment of the present invention, as shown in the figure:

The difference between this embodiment and the previous embodiment is mainly that this embodiment adds the technical features of matching and tracking and positioning via the external camera 70. The rest of the same parts will not be described in detail below, and will be described here first.

The dotted line shown in "FIG. 4" refers to the photographing relationship between the devices. In addition, the user device 60 is in the hands of the user P, which is explained here first.

This embodiment provides an optical tag-based automatic tracking and shooting system 300, which mainly includes an optical tag device 50, a user device 60, an external camera device 70, a server 80, and a mobile camera device 90.

The external camera device 70 and the optical tag device 50 have relative poses, and output external position information to the server 80. In this embodiment, the external photographing device 70 is a monitor with a signal transmission function.

In another embodiment, the external photographing device 70 may be (but not limited to) drones, robots, autonomous vehicles, or mobile monitors with photographing functions and signal transmission functions. A monitor capable of rotating the lens position) or any other device with a photographing function. These devices can also have a positioning function, which can construct or confirm the absolute position or relative position of the device body of the external photographing device 70 in the three-dimensional space. The relative position of other objects; in another feasible embodiment, if these devices can capture the movement within the range of the light tag device 50, they can also directly obtain the absolute position or relative position in the three-dimensional space from the relative pose. There is no limitation in the invention.

The above is a specific embodiment of the present invention. The hardware architecture design of the present invention is as described above. The working operation of the present invention will be further explained below. Please also refer to "FIG. 5" for the disclosure. A schematic flowchart of another embodiment of the invention is shown in the figure:

First, the server 80 confirms the relative posture of the external photographing device 70 and the optical tag device 50 (step S401).

Specifically, before the user device 60 photographs the optical tag of the optical tag device 50, the server 80 has built-in the relative pose between the external camera 70 and the optical tag device 50.

In another embodiment, when the external camera 70 is a mobile monitor, the relative pose of the external camera 70 can be updated by the external orientation information output by the external camera 70 to determine the external camera 70 The face of the optical label device 50.

The relative pose refers to the relative positional relationship between the external photographing device 70 and the optical tag device 50. The relative positional relationship can be manually calibrated, or various relative positioning algorithms known in the art can be used to reversely calculate the external photographing device. 70 relative to the position of the optical label device 50.

The external orientation information is the vector information of the external camera 70. When the original relative pose of the external camera 70 is known, the relative pose and vector information are calculated to obtain the current orientation of the external camera 70. The vector information can be a vector of rectangular coordinates (x, y, z) or a vector of polar coordinates (r, θ, Φ), which is not limited in the present invention. The calculation method is a vector calculation method, which can be (but not limited to) methods capable of calculating vectors such as dot product (DOT PRODUCT) or cross product (CROSS PRODUCT), which is not within the scope of the present invention.

In another embodiment, when the external camera 70 is a movable camera, the server 80 has built-in position information and relative pose of the external camera 70. At this time, the external position information includes the current external camera 70. When the server 80 receives the external position information, it can update the current position information and relative pose of the external camera 70.

In a feasible embodiment, the location information may be the address information of the device itself in world coordinates (for example, World Geodetic System (WGS), latitude and longitude coordinate system, etc.). In other feasible embodiments, the position information can also be a spatial coordinate system pre-established based on the user setting a relatively stable anchor point, or any other spatial coordinate information that can be used as an absolute position or a relative position reference. In the present invention No restrictions.

Following the above steps, after determining the relative pose of the external camera 70 and the optical tag device 50, the user P uses the user device 60 to photograph the optical tag device 50 to obtain the device position information of the optical tag device 50 (step S402).

In another embodiment, when the external camera 70 is a movable camera, the relative pose and position information of the external camera 70 and the optical tag device 50 will be determined.

The user device 60 photographs the optical tag of the optical tag device 50 to obtain the corresponding device location information and the pose information of the user device. The user device 60 then outputs a user message including the user location information to the server 80 (step S403).

Specifically, after the user device 60 obtains the device location information of the optical tag device 50 and the pose information of the user device 60 and the optical tag device 50, the user location information can be analyzed by software calculation. The aforementioned user location information can be the relative position of the user device 60 and the optical tag device 50, or the user location information can be converted into a world coordinate position (coordinates of the world coordinate system, such as latitude and longitude), or a scene coordinate position ( The coordinates of the scene coordinate system, such as the coordinate system established based on the set anchor point). The pose information refers to the relative positional relationship between the user device 60 and the optical tag device 50. The relative positional relationship can be calculated using various relative positioning algorithms known in the art to calculate the relative position of the user device 60 relative to the optical tag device 50. s position.

Following the above steps, the server 80 is connected to the user device 60 via the Internet to receive the user message. At this time, the server 80 will output a user confirmation signal to the external camera device 70 based on the user location information of the user message (step S404). The aforementioned user confirmation signal contains user location information.

The external camera 70 receives the user confirmation signal to shoot the user P, and then returns the user matching signal including the captured image to the server 80 (step S405). The user matching signal refers to an image actually taken of the user.

In another feasible embodiment, the external camera 70 has a calibration system so that the external camera 70 can calibrate the user P. The calibration system described is a system based on image recognition technology and a region of interest (ROI) algorithm to calibrate the target. Other algorithms and systems that can implement the aforementioned behaviors are not limited in the present invention.

In another embodiment, when the external camera 70 is a mobile monitor, the external camera 70 adjusts the orientation according to the user's position information and shoots the user P, and then returns a user matching signal including the captured image to the server 80 .

In another feasible embodiment, the external photographing device 70 is a mobile monitor and has a tracking system, so that the mobile monitor can track the user P. The tracking system is a system based on image recognition technology that uses a region of interest (ROI) algorithm to calibrate a target. Other algorithms and systems that can implement the aforementioned behaviors are not limited in the present invention.

In another embodiment, when the external camera device 70 is a movable camera device, the external camera device 70 will move to the user's location according to the user's location information and shoot the user P, and then return a user matching signal containing the captured image To server 80.

In another feasible embodiment, the external photographing device 70 is a portable photographing device and has a following system, so that the portable photographing device can follow the user P. The following system is a system based on image recognition technology that uses a region of interest (ROI) algorithm to calibrate and move a target, so that it can maintain a certain camera distance with the target. Other algorithms and systems that can implement the aforementioned behaviors are not limited in the present invention.

Following the above steps, the server 80 receives the user matching signal to obtain a user image, performs user matching based on the user image, and outputs a control signal to the mobile camera 90 (step S406).

Specifically, when the server 80 receives the user matching signal, it will perform calculations on the user image of the user matching signal and the user location information, and analyze and confirm where the user P is in the captured image, so that the server 80 confirms the user P For matching users.

In another embodiment, when a plurality of users P are using at the same time, the user location information can be combined with the captured image that receives the user matching signal, and the plurality of users P can be analyzed to find that the user P currently giving the user location information is Match users. The foregoing analysis methods include image recognition and image analysis, and the analysis methods are not within the scope of the present invention.

After the server 80 confirms that it matches the user, it will output a control signal to the mobile camera 90 again. The control signal includes user location information (or may further include a shooting command), where the user location information refers to the coordinate position of the user P, and the shooting command refers to a command signal for performing a shooting behavior.

In another embodiment, the aforementioned user device 60 can be selected by the built-in software shooting method, and the shooting method information is included in the user message. The shooting method may be (but not limited to) surround The shooting modes selected by the user P, such as shooting, front shooting, side shooting, etc., can be adjusted and changed in various ways according to actual needs, which are not limited in the present invention. After the aforementioned information is received by the server 80, the server 80 will perform calculations according to the shooting mode selected by the user P and output control signals (such as moving coordinates and shooting commands) to the mobile camera 90. When the mobile camera 90 receives the control signal, it will shoot the user P according to the shooting mode specified by the user P. Specifically, the mobile camera 90 has a built-in movement command that can be adjusted according to the shooting mode, so that the mobile camera 90 can move on its own after receiving the shooting mode and shoot according to the shooting mode (such as panoramic shooting, full-circle shooting). Shooting, 3D image creation, etc.). In another embodiment, the action command of the mobile camera 90 can be directly issued from the remote end of the server 80 to the mobile camera 90, which is not limited in the present invention.

Finally, after receiving the control signal, the mobile camera 90 moves to the user's location according to the user's location information, and shoots the user P according to the shooting instruction (step S407).

In this embodiment, the server 80 can first transmit the user's location information to the mobile camera 90, and control the mobile camera 90 to move to the user's position. The user P can then give the camera command to the mobile camera through the user device 60. The imaging device 90 performs imaging. In another embodiment, the user P can select the shooting command at the beginning through the user device 60, and send the user location information and shooting command to the server 80, and the server 80 also outputs control according to the user location information and shooting command. The signal is sent to the mobile camera 90, and when the mobile camera 90 moves to the user's position, the user will be photographed according to the control signal. The sequence of execution of the above actions can be adjusted according to actual needs, and is not limited in the present invention.

In one of the possible embodiments, the external camera 70 can take a user's photo and send it to the mobile camera 90 or send it to the mobile camera 90 via the server 80, so that the mobile camera 90 can compare photos according to the user's photos. User P confirms. The aforementioned mobile camera 90 has a facial recognition system (Facial recognition system).

To sum up, the present invention can accurately obtain the user's position in the three-dimensional space through the light tag, and automatically control the mobile camera to move to the user's position to take the user's image according to the user's position, so that the user can take pictures of the user without assistance from others. Under the circumstances, the user is photographed.

The present invention has been described in detail above, but what is described above is only a preferred embodiment of the present invention, and should not be used to limit the scope of implementation of the present invention, that is, everything made in accordance with the scope of the patent application of the present invention is equal Changes and modifications should still fall within the scope of the patent of the present invention.

:方向 P:用戶 S201-S204:步驟 S401-S407:步驟 10: Optical tag device 100: Optical tag-based automatic tracking and shooting system 20: User device 30: Server 300: Optical tag-based automatic tracking and shooting system 40: Mobile camera 50: Optical tag device 60: User device 70: External camera 80: Server 90: Mobile camera D: Distance

: Direction P: User S201-S204: Step S401-S407: Step

Fig. 1 is a block diagram of an automatic tracking and shooting system based on optical tags of the present invention.

Fig. 2 is a schematic flow diagram of the automatic tracking and shooting system based on optical tags of the present invention.

Fig. 3 is a schematic diagram of the method of obtaining pose information in the present invention.

Fig. 4 is a block diagram of another embodiment of the present invention.

Fig. 5 is a schematic flowchart of another embodiment of the present invention.

100: Automatic tracking and shooting system based on light tags

10: Optical label device

20: User device

30: server

40: Mobile camera

P: User

Claims (10)

An automatic tracking and shooting system based on optical tags includes: an optical tag device with an optical tag, the optical tag corresponding to at least one device location information; a user device, the user device has a networking function, the optical tag device to obtain The device location information and the pose information of the user device relative to the optical tag device, and output user information including a user location information based on the device location information and the pose information; a server, the server via the Internet Connected to the user device to receive the user message, and output a control signal based on the user location information of the user message; and a mobile camera device that receives the control signal and moves to User location and shooting. For example, the optical tag-based automatic tracking and shooting system described in the first item of the patent application, wherein the user information includes shooting mode information, and the server obtains the shooting mode information and outputs the control signal to control the shooting mode of the mobile camera . As described in item 2 of the scope of patent application, the light tag-based automatic tracking and shooting system, wherein the control signal includes a movement position command generated based on the user location information, and a movement mode command generated based on the shooting mode information . For the optical tag-based automatic tracking and shooting system described in the first item of the patent application, the user location information is the relative position of the user device with respect to the optical tag device, the world coordinate position, or the scene coordinate position. For example, the optical tag-based automatic tracking and shooting system described in the first item of the scope of patent application, wherein the user device takes a picture of the user and transmits it to the mobile camera or the server transmits to the mobile camera, so that the The mobile camera can confirm the user based on the user's photo. An automatic tracking and shooting system based on optical tags includes: an optical tag device with an optical tag, the optical tag corresponding to at least one device location information; a user device, the user device has a networking function, the optical tag device to obtain The device location information, and the pose information of the user device relative to the light tag device, and output user information including a user location information based on the device location information and the pose information; an external camera device, the external camera device and The optical tag device has a relative pose; a server, which is connected to the user device via the Internet to receive the user message, and outputs a user confirmation signal based on the user location information of the user message, and the server passes The external camera device receives a user matching signal to obtain a user image, performs user matching based on the user image, and outputs a control signal; and A mobile camera, the mobile camera moves to the user's position according to the control signal output by the server and performs shooting. According to the optical tag-based automatic tracking and shooting system described in item 6 of the scope of patent application, the user location information is the relative position of the user device with respect to the optical tag device, the world coordinate position, or the scene coordinate position. As described in item 6 of the scope of patent application, the optical tag-based automatic tracking and shooting system, wherein the external camera device takes a picture of the user and transmits it to the mobile camera device, so that the mobile camera device can monitor the user according to the user photo Compare and confirm. As described in item 6 of the scope of patent application, the optical tag-based automatic tracking and shooting system, wherein the external photographing device is a mobile monitor, and the mobile monitor outputs an externally oriented information to the server, and the server is based on The external orientation information updates the relative pose of the mobile monitor. As described in item 6 of the scope of patent application, the optical tag-based automatic tracking and shooting system, wherein the external camera device is a movable camera device, the movable camera device outputs an external position information to the server, and the servo The device updates the position information and relative pose of the movable camera device according to the external position information.

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