CN107529665A - Car tracing method and device - Google Patents
Car tracing method and device Download PDFInfo
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- CN107529665A CN107529665A CN201710547293.9A CN201710547293A CN107529665A CN 107529665 A CN107529665 A CN 107529665A CN 201710547293 A CN201710547293 A CN 201710547293A CN 107529665 A CN107529665 A CN 107529665A
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Abstract
This disclosure relates to a kind of car tracing method and device, this method include：Identify the target vehicle in the picture frame captured by entrance camera；The 1st tracking camera in multiple tracking cameras is in region S11Captured picture frame, determine target vehicle in region S11In movable information；N tracking cameras and the N 1 adjacent with N tracking cameras in multiple tracking cameras follow the trail of camera in region SN1Captured picture frame, determine target vehicle in region SN1Movable information；Camera is followed the trail of in region S according to NN2Captured picture frame, determine target vehicle in region SN2Movable information；Camera is followed the trail of according to N and the N+1 adjacent with N tracking cameras follows the trail of camera in region SN3Captured picture frame, determine target vehicle in region SN3Movable information.Thus, the convenience of parking lot management is improved.
Description
Technical field
This disclosure relates to areas of information technology, more particularly to a kind of car tracing method and device.
Background technology
With the development of Internet of Things, network management has been done step-by-step in parking lot management.However, existing parking lot may
It can not realize and the vehicle in parking lot is tracked.
The content of the invention
In view of this, the present disclosure proposes a kind of car tracing method and device.
According to the one side of the disclosure, there is provided a kind of car tracing method, applied to parking lot, the parking lot enters
Mouth is provided with entrance camera, and multiple tracking cameras, the adjacent tracking camera of any two are provided with the parking lot
Shooting area overlapping region be present, the car tracing method includes：
Identify the target vehicle in the picture frame captured by the entrance camera；
The 1st tracking camera in the multiple tracking camera is in region S11Captured picture frame, determine institute
Target vehicle is stated in the region S11In movable information, wherein, it is described 1st tracking camera apart from the entrance camera most
Closely, the region S11Be it is described 1st tracking camera shooting area in except the described 1st tracking camera shooting area and
Region beyond the overlapping region of the shooting area of the tracking camera adjacent with the described 1st tracking camera；
N tracking cameras in the multiple tracking camera and adjacent with N tracking cameras the
N-1 follows the trail of camera in region SN1Captured picture frame, determine the target vehicle in the region SN1Movable information,
Wherein, the region SN1It is the shooting area of the N trackings camera and the shooting area of N-1 tracking cameras
Overlapping region, the N are greater than 1 natural number；
Camera is followed the trail of in region S according to the NN2Captured picture frame, determine the target vehicle in the area
Domain SN2Movable information, wherein, the region SN2Be N tracking camera shooting area in remove the region SN1
With region SN3Region in addition, the region SN3It is the shooting area of the N trackings camera and is taken the photograph with N trackings
As an overlapping region for the shooting area of adjacent N+1 tracking cameras；
Camera is followed the trail of according to the N and follows the trail of camera in region S with the N+1N3Captured picture frame, really
The fixed target vehicle is in the region SN3Movable information.
In a kind of possible implementation, the picture frame according to captured by tracking camera in region, the mesh is determined
Movable information of the vehicle in the region is marked, including：
The vehicle that judges to identify in the M picture frames in the picture frame captured by the region with the region institute
Whether the vehicle identified in the M-1 picture frames in the picture frame of shooting matches, wherein, the M is greater than 1 natural number；
The vehicle identified in the M picture frames are judged as and the vehicle phase identified in the M-1 picture frames
In the case of matching, according to position of the vehicle identified in the M picture frames in the M picture frames and described
Position in M-1 picture frames, determine the movable information of vehicle identified in the M picture frames；
The vehicle identified in the vehicle and the M-1 picture frames for being judged as identifying in the M picture frames is not
In the case of matching, the tracked information of the vehicle identified in the M picture frames is defined as identifying in the M picture frames
The vehicle gone out belongs to newly-increased vehicle.
In a kind of possible implementation, according to the vehicle identified in the M picture frames in the M picture frames
In position and the position in the M-1 picture frames, the motion letter for the vehicle for determining to identify in the M picture frames
Breath, including：
Scheme according to position of the vehicle identified in the M picture frames in the M picture frames and in the M-1
As the position in frame, the vehicle for determining to identify in the M picture frames is relative to the vehicle identified in the M picture frames
Headstock displacement；
Be in the direction of the displacement just and the displacement size be not 0 in the case of, will know in the M picture frames
The vehicle that the movable information for the vehicle not gone out is defined as identifying in the M picture frames is in forward travel state；
It is that in the case that the size of negative and described displacement is not 0, will know in the M picture frames in the direction of the displacement
The vehicle that the movable information for the vehicle not gone out is defined as identifying in the M picture frames is in state of rolling backward；
It is in the case where the size of the displacement is 0, the movable information of the vehicle identified in the M picture frames is true
It is set to the vehicle identified in the M picture frames to remain static.
In a kind of possible implementation, in addition to：
It is related to the parking detection device receiving the expression transmitted by the parking detection device in the parking lot
In the case of the parking information that the target vehicle is parked on the parking stall of connection, the movable information of the target vehicle is defined as institute
State target vehicle and be in dead ship condition；
On the parking stall associated with the parking detection device of the expression transmitted by the parking detection device is received
In the case of the leave message that the target vehicle being parked leaves, the movable information of the target vehicle is defined as the target
Vehicle is in mobile status.
In a kind of possible implementation, the picture frame according to captured by tracking camera in region, the mesh is determined
Movable information of the vehicle in the region is marked, including：
Picture frame according to captured by tracking camera in region, determines motion rail of the target vehicle in the region
Mark.
In a kind of possible implementation, in addition to：
The vehicle in picture frame according to captured by exit camera, to the identified target vehicle in final area
Movable information proofreaded, wherein, the exit camera is installed on the outlet in the parking lot, and the final area is most
Being imaged except the shooting area of the last tracking camera and with the last tracking in the shooting area of camera is followed the trail of afterwards
Region beyond the overlapping region of the shooting area of adjacent tracking camera, the last tracking camera is described in distance
The nearest tracking camera of exit camera.
According to another aspect of the present disclosure, there is provided a kind of vehicle tracking device, applied to parking lot, it is characterised in that
The entrance in the parking lot is provided with entrance camera, and multiple tracking cameras, any two phase are provided with the parking lot
There is overlapping region in the shooting area of adjacent tracking camera, the vehicle tracking device includes：
Identification module, for identifying the target vehicle in the picture frame captured by the entrance camera；
Determining module, it is connected with the identification module, the determining module is used for：
The 1st tracking camera in the multiple tracking camera is in region S11Captured picture frame, determine institute
Target vehicle is stated in the region S11In movable information, wherein, it is described 1st tracking camera apart from the entrance camera most
Closely, the region S11Be it is described 1st tracking camera shooting area in except the described 1st tracking camera shooting area and
Region beyond the overlapping region of the shooting area of the tracking camera adjacent with the described 1st tracking camera；
N tracking cameras in the multiple tracking camera and adjacent with N tracking cameras the
N-1 follows the trail of camera in region SN1Captured picture frame, determine the target vehicle in the region SN1Movable information,
Wherein, the region SN1It is the shooting area of the N trackings camera and the shooting area of N-1 tracking cameras
Overlapping region, the N are greater than 1 natural number；
Camera is followed the trail of in region S according to the NN2Captured picture frame, determine the target vehicle in the area
Domain SN2Movable information, wherein, the region SN2Be N tracking camera shooting area in remove the region SN1
With region SN3Region in addition, the region SN3It is the shooting area of the N trackings camera and is taken the photograph with N trackings
As an overlapping region for the shooting area of adjacent N+1 tracking cameras；
Camera is followed the trail of according to the N and follows the trail of camera in region S with the N+1N3Captured picture frame, really
The fixed target vehicle is in the region SN3Movable information.
In a kind of possible implementation, the determining module is configured as：
The vehicle that judges to identify in the M picture frames in the picture frame captured by the region with the region institute
Whether the vehicle identified in the M-1 picture frames in the picture frame of shooting matches, wherein, the M is greater than 1 natural number；
The vehicle identified in the M picture frames are judged as and the vehicle phase identified in the M-1 picture frames
In the case of matching, according to position of the vehicle identified in the M picture frames in the M picture frames and described
Position in M-1 picture frames, determine the movable information of vehicle identified in the M picture frames；
The vehicle identified in the vehicle and the M-1 picture frames for being judged as identifying in the M picture frames is not
In the case of matching, the tracked information of the vehicle identified in the M picture frames is defined as identifying in the M picture frames
The vehicle gone out belongs to newly-increased vehicle.
In a kind of possible implementation, the determining module is configured as：
Scheme according to position of the vehicle identified in the M picture frames in the M picture frames and in the M-1
As the position in frame, the vehicle for determining to identify in the M picture frames is relative to the vehicle identified in the M picture frames
Headstock displacement；
Be in the direction of the displacement just and the displacement size be not 0 in the case of, will know in the M picture frames
The vehicle that the movable information for the vehicle not gone out is defined as identifying in the M picture frames is in forward travel state；
It is that in the case that the size of negative and described displacement is not 0, will know in the M picture frames in the direction of the displacement
The vehicle that the movable information for the vehicle not gone out is defined as identifying in the M picture frames is in state of rolling backward；
It is in the case where the size of the displacement is 0, the movable information of the vehicle identified in the M picture frames is true
It is set to the vehicle identified in the M picture frames to remain static.
In a kind of possible implementation, the determining module is additionally operable to：
It is related to the parking detection device receiving the expression transmitted by the parking detection device in the parking lot
In the case of the parking information that the target vehicle is parked on the parking stall of connection, the movable information of the target vehicle is defined as institute
State target vehicle and be in dead ship condition；
On the parking stall associated with the parking detection device of the expression transmitted by the parking detection device is received
In the case of the leave message that the target vehicle being parked leaves, the movable information of the target vehicle is defined as the target
Vehicle is in mobile status.
In a kind of possible implementation, the determining module is configured as：
Picture frame according to captured by tracking camera in region, determines motion rail of the target vehicle in the region
Mark.
In a kind of possible implementation, in addition to：
Checking module, it is connected with the determining module, for the vehicle in the picture frame according to captured by exit camera,
The identified target vehicle is proofreaded in the movable information of final area, wherein, the exit camera is installed on
The outlet in the parking lot, the final area are except the last tracking shooting in the shooting area of last tracking camera
Beyond the overlapping region of the shooting area of the shooting area of head and the tracking camera adjacent with the last tracking camera
Region, the last tracking camera is the tracking camera nearest apart from the exit camera.
According to the another aspect of the disclosure, there is provided a kind of non-volatile computer readable storage medium storing program for executing, when the storage
When instruction in medium is by terminal and/or the computing device of server so that terminal and/or server are able to carry out above-mentioned side
Method.
The technical scheme provided by this disclosed embodiment can include the following benefits：According to each camera in parking lot
Captured picture frame determines the movable information of the vehicle in parking lot, and thereby, it is possible to the position of each car in real-time tracing parking lot
Put and state, the keeper in parking lot can improve parking lot management according to the position and condition managing parking lot of each car
Convenience.
In a kind of possible embodiment, the technical scheme provided by this disclosed embodiment can be included below beneficial to effect
Fruit：According to the vehicle identified in current image frame whether with the vehicle match that is identified in previous image frame, it is determined that current figure
As whether the vehicle that is identified in frame is newly-increased vehicle, thereby, it is possible to determine newly-increased vehicle in real time, parking is further increased
The convenience of field management.
In a kind of possible embodiment, the technical scheme provided by this disclosed embodiment can be included below beneficial to effect
Fruit：According to identifying position of the vehicle in current image frame and the vehicle that identifies in previous image frame in current image frame
In position, determine that the vehicle is in forward travel state, the vehicle is in state of rolling backward and the vehicle remains static, by
This, can determine the state of vehicle in real time, further increase the convenience of parking lot management.
In a kind of possible embodiment, the technical scheme provided by this disclosed embodiment can be included below beneficial to effect
Fruit：Information according to transmitted by the parking detection device in parking lot determines that vehicle is in dead ship condition or mobile status, thus,
Can determine to stop in real time in parking stall vehicle and leave the vehicle of parking stall, the convenient of parking lot management can not only be improved
Property, but also the idle parking stall in parking lot is can determine, the utilization rate of the parking stall in parking lot is thus improved, improves parking lot
Income.
In a kind of possible embodiment, the technical scheme provided by this disclosed embodiment can be included below beneficial to effect
Fruit：The movement locus of vehicle can be determined in real time, and the keeper in parking lot is capable of determining that according to the movement locus of each vehicle
The region to be stopped of the vehicle, there is no that in the case of idle parking stall the vehicle can be notified in time in the region that the vehicle to be stopped
User, so as to avoid user after vehicle reaches the region to be stopped of the vehicle from just finding that the region does not have idle car
Position, vehicle can not stop in the region, it is, of course, also possible to notify the user there is currently idle parking stall and apart from the user most
Near region, so as to help user to find idle parking stall as early as possible, improve the experience of user.
In a kind of possible embodiment, the technical scheme provided by this disclosed embodiment can be included below beneficial to effect
Fruit：The vehicle in picture frame according to captured by exit camera to identified target vehicle final area movable information
Proofreaded, it is whether correct in the movable information of final area thereby, it is possible to the target vehicle for judging to determine, so as to carry
The accuracy of high car tracing, also, if it is determined that target vehicle in the movable information mistake of final area, then parking lot
Keeper can carry out manual correction, such as keeper can enter parking lot and search the target vehicle.
According to below with reference to the accompanying drawings becoming to detailed description of illustrative embodiments, the further feature and aspect of the disclosure
It is clear.
Brief description of the drawings
Comprising in the description and the accompanying drawing of a part for constitution instruction and specification together illustrate the disclosure
Exemplary embodiment, feature and aspect, and for explaining the principle of the disclosure.
Fig. 1 shows the flow chart of the car tracing method according to the embodiment of the disclosure one.
Fig. 2 shows the flow chart of an example of the car tracing method according to the embodiment of the disclosure one.
Fig. 3 shows the structured flowchart of the vehicle tracking device according to the embodiment of the disclosure one.
Fig. 4 is a kind of block diagram of device for car tracing according to an exemplary embodiment.
Embodiment
Describe various exemplary embodiments, feature and the aspect of the disclosure in detail below with reference to accompanying drawing.It is identical in accompanying drawing
Reference represent the same or analogous element of function.Although the various aspects of embodiment are shown in the drawings, remove
Non-specifically point out, it is not necessary to accompanying drawing drawn to scale.
Special word " exemplary " is meant " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
In addition, in order to better illustrate the disclosure, numerous details is given in embodiment below.
It will be appreciated by those skilled in the art that without some details, the disclosure can equally be implemented.In some instances, for
Method, means, element and circuit well known to those skilled in the art are not described in detail, in order to highlight the purport of the disclosure.
Fig. 1 shows the flow chart of the car tracing method according to the embodiment of the disclosure one, and the car tracing method can answer
For parking lot, the entrance in the parking lot is provided with entrance camera, and multiple tracking cameras are provided with the parking lot, and
Overlapping region be present in the shooting area of the adjacent tracking camera of any two.Wherein, the executive agent of the car tracing method
It can be the server in the parking lot.As shown in figure 1, the car tracing method may comprise steps of.
In step s 110, the target vehicle in the picture frame captured by entrance camera is identified.
Wherein, entrance camera can be installed on the optional position of the entrance in parking lot, as long as the shooting of entrance camera
Region can cover the entrance in parking lot, for example, entrance camera is installed on the centre position of the entrance in parking lot, again
Such as, entrance camera is installed on the leftward position of the entrance in parking lot.When vehicle reaches the entrance in parking lot, entrance camera
The vehicle is shot, the vehicle can recognize that to the image captured by the vehicle according to entrance camera, for example, according to
Entrance camera can recognize that the car shape of the vehicle, color, logo, number-plate number etc. to the image captured by the vehicle.Can
Choosing, the number-plate number can be as the unique mark of the vehicle.
In step s 130, the 1st tracking camera in multiple tracking cameras is in region S11Captured image
Frame, determine target vehicle in region S11In movable information, wherein, the 1st tracking camera it is nearest apart from entrance camera, region
S11It is except the 1st shooting area for following the trail of camera and adjacent with the 1st tracking camera in the 1st shooting area for following the trail of camera
Tracking camera shooting area overlapping region beyond region.
Wherein, the shooting area for the multiple tracking cameras installed in parking lot should be able to cover whole parking lot,
That is the overall area of the shooting area superposition of all tracking cameras can cover whole parking lot.For example, any two phase
Overlapping region be present relative to the driving lane in parking lot in the shooting area of adjacent tracking camera.Optionally, the overlapping region
Can be symmetrical relative to the driving lane, the overlapping region can also be asymmetric relative to the driving lane.
In other words, entirely stop as long as disclosure satisfy that the total size of the shooting area superposition of all tracking cameras can cover
There is overlapping region in the shooting area of parking lot and the adjacent tracking camera of any two, parking lot can is appointed according to demand
Meaning sets the number and installation site of tracking camera.Optionally, each tracking camera that the inside in parking lot is installed
Shooting area can be with identical, certainly, and each shooting area for following the trail of camera can also be different.
Specifically, the shooting area of the 1st tracking camera nearest apart from entrance camera may include overlapping region and non-
Overlapping region, wherein overlapping region refer to that the shooting area of the 1st tracking camera and the tracking adjacent with the 1st tracking camera are taken the photograph
As region overlapping between both shooting areas of head, Non-overlapping Domain (region S11) refer to the 1st shooting for following the trail of camera
Nonoverlapping region between both shooting areas of region and the tracking camera adjacent with the 1st tracking camera.
It is that target vehicle initially enters the 1st after target vehicle enters parking lot in the vehicle of the entrance from parking lot
The Non-overlapping Domain of camera is followed the trail of, the overlapping region of the 1st tracking camera is then entered back into, wherein following the trail of camera the 1st
Non-overlapping Domain, the only the 1st tracking camera can photograph target vehicle, and in the overlapping region of the 1st tracking camera, the
1 tracking camera and the tracking camera both of which adjacent with the 1st tracking camera can photograph target vehicle.
Therefore, can be according to the 1st tracking camera in the 1st Non-overlapping Domain S for following the trail of camera11Captured image
Frame, determine target vehicle in Non-overlapping Domain S11In movable information, can according to the 1st tracking camera the 1st tracking image
Picture frame captured by the overlapping region of head, movable information of the target vehicle in the overlapping region of the 1st tracking camera is determined,
It is of course also possible to according to captured by the tracking camera adjacent with the 1st tracking camera in the overlapping region of the 1st tracking camera
Picture frame, determine target vehicle the 1st tracking camera overlapping region in movable information, certainly, in order to improve tracking
Accuracy, picture frame that can be according to captured by the 1st tracking camera in the overlapping region of the 1st tracking camera and with the 1st
Follow the trail of camera it is adjacent tracking camera the 1st tracking camera overlapping region captured by picture frame, determine target carriage
The 1st tracking camera overlapping region in movable information.
Wherein, the target vehicle for the entrance for driving into parking lot initially enters non-in the shooting area of the 1st tracking camera
Overlapping region, the picture frame according to captured by the 1st tracking camera in the Non-overlapping Domain identify target vehicle, will be according to entering
The number-plate number that shooting time captured by mouthful camera picture frame nearest apart from the shooting time of the picture frame is identified
As the number-plate number of the vehicle, with the unique mark vehicle.Optionally, the target vehicle is newly-increased for parking lot
Vehicle.
In step S150, it is adjacent to follow the trail of camera according to multiple N tracking cameras followed the trail of in cameras and with N
N-1 follow the trail of camera in region SN1Captured picture frame, determine target vehicle in region SN1Movable information, wherein,
Region SN1It is the overlapping region that N follows the trail of the shooting area of camera and the shooting area of N-1 tracking cameras, N is greater than 1
Natural number.
In step S170, camera is followed the trail of in region S according to NN2Captured picture frame, determine target vehicle in area
Domain SN2Movable information, wherein, region SN2Be N tracking camera shooting area in remove region SN1With region SN3In addition
Region, region SN3It is that the shooting area of N tracking cameras and the N+1 adjacent with N tracking cameras follow the trail of camera
Shooting area overlapping region.
In step S190, follow the trail of camera according to N and follow the trail of the adjacent N+1 of camera with N and follow the trail of camera
In region SN3Captured picture frame, determine target vehicle in region SN3Movable information.
As described above, the shooting area of N trackings camera may include the first overlapping region (region SN1), non-overlapped area
Domain (region SN2) and the second overlapping region (region SN3), wherein in the Non-overlapping Domain of N tracking cameras, only N trackings are taken the photograph
As head can photograph target vehicle, and in the first overlapping region of N tracking cameras, N tracking cameras and chased after with N
The adjacent N-1 trackings camera both of which of track camera can photograph target vehicle, and in N tracking cameras
Second overlapping region, N tracking cameras and the N+1 tracking camera both of which adjacent with N tracking cameras can
Photograph target vehicle.
Therefore, the motion for the shooting area that can follow the trail of camera according to following method to determine target vehicle in N is believed
Breath：It is possible, firstly, to according to N follow the trail of camera N tracking camera the first overlapping region captured by picture frame and with
The adjacent N-1 tracking cameras of N tracking cameras are in the image captured by the first overlapping region of N tracking cameras
Frame, determine movable information of the target vehicle in the first overlapping region of N tracking cameras；It is then possible to followed the trail of according to N
Picture frame captured by Non-overlapping Domain of the camera in N tracking cameras, determine target vehicle in N tracking cameras
Movable information in Non-overlapping Domain；Finally, the second overlay region that camera follows the trail of camera in N can be followed the trail of according to N
Picture frame and the N+1 tracking camera adjacent with N tracking cameras captured by domain follow the trail of the second weight of camera in N
Picture frame captured by folded region, determine movable information of the target vehicle in the second overlapping region of N tracking cameras.
Thus, the picture frame according to captured by each camera in parking lot determines the movable information of the vehicle in parking lot, energy
The position of each car in enough real-time tracing parking lots and state, the position and state that the keeper in parking lot can be according to each car
Managing parking field, improve the convenience of parking lot management.
Fig. 2 shows to determine target according to the picture frame according to captured by tracking camera in region of the embodiment of the disclosure one
Flow chart of the vehicle in an example of the movable information in the region.Wherein, above-mentioned steps S130, step S150, step S170
The movable information of target vehicle can be determined according to the method shown in Fig. 2 with step S190.
In step S210, judge the vehicle that is identified in the M picture frames in the picture frame captured by region with
Whether the vehicle identified in the M-1 picture frames in picture frame captured by the region matches, wherein, M is greater than 1 nature
Number.
In step S230, the car that is identified in the vehicle and M-1 picture frames for being judged as identifying in M picture frames
In the case of matching, according to position of the vehicle identified in M picture frames in M picture frames and in M-1 images
Position in frame, determine the movable information of vehicle identified in M picture frames.
In step s 250, the car identified in the vehicle and M-1 picture frames for being judged as identifying in M picture frames
In the case of unmatched, the tracked information of the vehicle identified in M picture frames is defined as what is identified in M picture frames
Vehicle belongs to newly-increased vehicle.
For example, can identify in region S11The vehicle and M-1 figures in M picture frames in captured picture frame
As the vehicle in frame, by the vehicle identified in M picture frames and the vehicle identified in M-1 picture frames progress
Match somebody with somebody, if the vehicle identified in M picture frames and the vehicle match success identified in M-1 picture frames, such as M figures
Car shape, logo as the vehicle that is identified in frame and the vehicle that is identified in M-1 picture frames etc. are identical, then can be defined as
The vehicle identified in M picture frames and the vehicle identified in M-1 picture frames are same vehicles, be defined as can be with M
, can basis in the case that the vehicle identified in picture frame is same vehicle with the vehicle identified in M-1 picture frames
The same position of the vehicle in M picture frames and the position in M-1 picture frames, determine the motion letter of the same vehicle
Breath.
, whereas if the vehicle identified in M picture frames and the vehicle match identified in M-1 picture frames lose
Losing, then the vehicle that can be defined as identifying in M picture frames is the vehicle not having in M-1 picture frames, in other words, M figures
As the vehicle identified in frame is newly-increased vehicle.
Wherein, identify that the method for the vehicle in picture frame can include：By the target in picture frame and a variety of vehicle contours
Matched, if the target matches with a vehicle contour in a variety of vehicle contours, can be by the target identification
Vehicle；, whereas if each vehicle contour in all targets and a variety of vehicle contours in picture frame mismatches, then may be used
To be defined as being not present vehicle in picture frame, the target in the picture frame is, for example, human body.
Optionally, the quantity of the target to match in picture frame with vehicle contour can be 1, in this case, it is possible to only
A vehicle is identified from picture frame.Optionally, the quantity of the target to match with vehicle contour in picture frame can be 2
More than, in this case, it is possible to identify more vehicles from picture frame.
Optionally, if the vehicle identified in current image frame loses with the vehicle match identified in previous image frame
The vehicle lose, identified in current image frame is not come across in previous image frame, that is, identified in current image frame
Vehicle is newly-increased vehicle, in this case, it is possible to increase position of the vehicle in current image frame such as newly-increased car newly according to this
Be located at current image frame left side, from positioned at shoot the current image frame tracking camera left side tracking camera in
Determine upper one that photographs the newly-increased vehicle and follow the trail of camera ..., the rest may be inferred, it may be determined that go out the car of the newly-increased vehicle
Trade mark code, the newly-increased vehicle so as to unique mark.
Thus, according to the vehicle identified in current image frame whether with the vehicle match that is identified in previous image frame,
Whether the vehicle for determining to identify in current image frame is newly-increased vehicle, so as to determine newly-increased vehicle in real time, further
Improve the convenience of parking lot management.
In a kind of possible implementation, according to position of the vehicle identified in M picture frames in M picture frames
With the position in M-1 picture frames, the movable information of vehicle identified in M picture frames is determined, including：Schemed according to M
As position of the vehicle in M picture frames identified in frame and the position in M-1 picture frames, determine in M picture frames
The vehicle identified relative to the headstock of the vehicle identified in M picture frames displacement；In the direction of displacement for just and displacement
Size not be 0 in the case of, the movable information of the vehicle identified in M picture frames is defined as identifying in M picture frames
The vehicle gone out is in forward travel state；It is in the case that negative and displacement size is not 0, by M picture frames in the direction of displacement
The vehicle that the movable information of the vehicle identified is defined as identifying in M picture frames is in state of rolling backward；In the size of displacement
In the case of 0, vehicle that the movable information of the vehicle identified in M picture frames is defined as identifying in M picture frames
Remain static.
Thus, the vehicle identified according to position of the vehicle identified in current image frame in current image frame with this
Position in previous image frame, determine that the vehicle is in forward travel state, the vehicle is in state of rolling backward and the vehicle is in
Inactive state, so as to determine the state of vehicle in real time, further increase the convenience of parking lot management.
In a kind of possible implementation, the expression transmitted by the parking detection device in parking lot is being received with stopping
It is in the case of the parking information that target vehicle is parked on the associated parking stall of car test measurement equipment, the movable information of target vehicle is true
It is set to target vehicle and is in dead ship condition；It is associated with parking detection device receiving the expression transmitted by parking detection device
Parking stall in the case of the leave message left of the target vehicle that is parked, the movable information of target vehicle is defined as target
Vehicle is in mobile status.
Wherein, can be installed on each parking stall in parking lot one parking detection device, each parking stall in synchronization only
A car can be parked, and each parking stall can be associated with the parking detection device installed on the parking stall.Optionally, can be with
Store the position of each parking stall.Stopped in target vehicle in the case of on a parking stall, parking detection device can send table
Show that target vehicle stops in the parking information of the parking stall, and the number-plate number of the target vehicle can be with the parking detection device
Binding；Stop in the case that the target vehicle on a parking stall leaves the parking stall, parking detection device can send expression
Target vehicle leaves the leave message of the parking stall, and the number-plate number of the target vehicle can release with the parking detection device
Binding.
Thus, it is possible to determine that the movable information of target vehicle is in parking for target vehicle according to above-mentioned parking information
State, wherein dead ship condition refer to that target vehicle stops at the state of parking stall, and can be determined according to above-mentioned leave message
The movable information for going out target vehicle is in mobile status for target vehicle, and wherein mobile status refers to what target vehicle was moving
State.
Therefore, the information according to transmitted by the parking detection device in parking lot determines that vehicle is in dead ship condition or movement
State, thereby, it is possible to determine to stop in real time in parking stall vehicle and leave the vehicle of parking stall, parking lot can not only be improved
The convenience of management, but also the idle parking stall in parking lot is can determine, the utilization rate of the parking stall in parking lot is thus improved, is carried
The income in high parking lot.
In a kind of possible implementation, the picture frame according to captured by tracking camera in region, target carriage is determined
Region movable information, including：Picture frame according to captured by tracking camera in region, determines target vehicle in region
Movement locus.Wherein, the picture frame according to captured by tracking camera in region, it may be determined that go out target vehicle in the region
The direction of motion and displacement, it so can determine that out movement locus of the target vehicle in the region.
Thereby, it is possible to determine the movement locus of vehicle in real time, the keeper in parking lot is according to the movement locus of each vehicle
The region to be stopped of the vehicle is capable of determining that, can be timely in the case of there is no idle parking stall in the region that the vehicle to be stopped
The user of the vehicle is notified, so as to avoid user after vehicle reaches the region to be stopped of the vehicle from just finding that the region does not have
Available free parking stall, vehicle can not stop in the region, it is, of course, also possible to notify the user to there is currently idle parking stall and distance
The nearest region of the user, so as to help user to find idle parking stall as early as possible, improve the experience of user.
In a kind of possible implementation, the vehicle in picture frame according to captured by exit camera, to being determined
Target vehicle proofreaded in the movable information of final area, wherein, exit camera is installed on the outlet in parking lot, finally
Region is being imaged except the shooting area of last tracking camera and with last tracking in the shooting area of last tracking camera
Region beyond the overlapping region of the shooting area of adjacent tracking camera, it is distance outlet shooting finally to follow the trail of camera
Nearest tracking camera.
Wherein, exit camera can be installed on the optional position of the outlet in parking lot, as long as the shooting of exit camera
Region can cover the outlet in parking lot, for example, exit camera is installed on the centre position of the outlet in parking lot, again
Such as, exit camera is installed on the leftward position of the outlet in parking lot.When vehicle reaches the outlet in parking lot, exit camera
The vehicle is shot, can recognize that the license plate number of the vehicle to the image captured by the vehicle according to exit camera
Code.
Optionally, when target vehicle reaches the outlet in parking lot, exit camera can be shot to target vehicle,
And the number-plate number of target vehicle can be identified according to the image captured by exit camera.Optionally, taken the photograph according to outlet
The target vehicle that image as captured by head is identified is the vehicle for leaving parking lot.If according to apart from exit camera most
Picture frame captured by near last tracking camera determines that the movable information of target vehicle is in advance shape for target vehicle
State and direction are the outlet in parking lot, then the target vehicle that may determine that to determine is correct in the movable information of final area
's., whereas if the picture frame according to captured by the last tracking camera nearest apart from exit camera determines target carriage
Movable information stop in driving lane for target vehicle, then the target vehicle that may determine that to determine is in final area
Movable information is wrong, in such a case it is possible to notify keeper, keeper can carry out artificial error correction.
Therefore, the vehicle in the picture frame according to captured by exit camera to identified target vehicle in final area
Movable information proofreaded, it is whether correct in the movable information of final area thereby, it is possible to the target vehicle for judging to determine,
So as to improve the accuracy of car tracing, also, if it is determined that target vehicle it is wrong in the movable information of final area
By mistake, then the keeper in parking lot can carry out manual correction, such as keeper can enter parking lot and search the target vehicle.
It should be noted that for purposes of illustration only, in foregoing description with according to the 1st tracking camera in region S11Captured
Picture frame determines target vehicle in region S11Movable information exemplified by, to according to tracking camera in region captured by picture frame
Determine that movable information of the target vehicle in the region is described in detail, however, those skilled in the art are it should be understood that above-mentioned
Method is applied equally to according to captured by the 1st follows the trail of other regions of the camera in the shooting area of the 1st tracking camera
Picture frame determine target vehicle the movable information in the region and according to it is other tracking cameras in other tracking cameras
Shooting area in arbitrary region captured by picture frame determine movable information of the target vehicle in the arbitrary region, herein not
Repeat again.
Fig. 3 is a kind of structured flowchart of vehicle tracking device 300 according to an exemplary embodiment.The car tracing
Device 300 can apply to parking lot, and the entrance in parking lot is provided with entrance camera, and multiple trackings are provided with parking lot and are taken the photograph
As head, there is overlapping region in the shooting area of the adjacent tracking camera of any two.Optionally, the vehicle tracking device 300
The for example, server in parking lot.As shown in figure 3, the vehicle tracking device 300 can include identification module 310 and determining module
330。
Wherein, identification module 310 is used to identify the target vehicle in the picture frame captured by entrance camera.
Wherein it is determined that module 330 is connected with identification module 310, determining module 330 is used for：According to multiple tracking cameras
In the 1st tracking camera in region S11Captured picture frame, determine target vehicle in region S11In movable information, its
In, the 1st tracking camera is nearest apart from entrance camera, region S11It is except the 1st chases after in the 1st shooting area for following the trail of camera
Beyond the overlapping region of the shooting area of the shooting area of track camera and the tracking camera adjacent with the 1st tracking camera
Region.
Determining module 330 is additionally operable to：N in multiple tracking cameras, which follows the trail of camera and followed the trail of with N, to image
Adjacent N-1 follows the trail of camera in region SN1Captured picture frame, determine target vehicle in region SN1Motion letter
Breath, wherein, region SN1It is the overlapping region that N follows the trail of the shooting area of camera and the shooting area of N-1 tracking cameras,
N is greater than 1 natural number.
Determining module 330 is additionally operable to：Camera is followed the trail of in region S according to NN2Captured picture frame, determines target carriage
In region SN2Movable information, wherein, region SN2Be N tracking camera shooting area in remove region SN1And region
SN3Region in addition, region SN3It is that the shooting area of N tracking cameras and the N+1 adjacent with N tracking cameras are followed the trail of
The overlapping region of the shooting area of camera.
Determining module 330 is additionally operable to：Camera is followed the trail of according to N and the N+1 tracking adjacent with N tracking cameras is taken the photograph
As head is in region SN3Captured picture frame, determine target vehicle in region SN3Movable information.
In a kind of possible implementation, determining module 330 can be configured as：Judge in the image captured by region
The vehicle that is identified in M picture frames in frame is with identifying in the M-1 picture frames in the picture frame captured by region
Whether vehicle matches, wherein, M is greater than 1 natural number；The vehicle and M-1 images identified in M picture frames are judged as
In the case that the vehicle identified in frame matches, according to position of the vehicle identified in M picture frames in M picture frames
With the position in M-1 picture frames, the movable information of vehicle identified in M picture frames is determined；It is being judged as M images
In the case of the vehicle that is identified in the vehicle and M-1 picture frames that are identified in frame is unmatched, it will be identified in M picture frames
The tracked information vehicle that is defined as identifying in M picture frames of vehicle belong to newly-increased vehicle.
In a kind of possible implementation, determining module 330 can be configured as：Identified according in M picture frames
Position of the vehicle in M picture frames and the position in M-1 picture frames, determine the vehicle identified in M picture frames
Relative to the displacement of the headstock of the vehicle identified in M picture frames；It is just in the direction of displacement and the size of displacement is not 0
In the case of, before the vehicle that the movable information of the vehicle identified in M picture frames is defined as identifying in M picture frames is in
Enter state；It is in the case that negative and displacement size is not 0, by the vehicle identified in M picture frames in the direction of displacement
The vehicle that movable information is defined as identifying in M picture frames is in state of rolling backward；, will in the case where the size of displacement is 0
The vehicle that the movable information of the vehicle identified in M picture frames is defined as identifying in M picture frames remains static.
In a kind of possible implementation, determining module 330 can be also used for：Receiving the inspection of the parking in parking lot
In the case of parking information of the expression with target vehicle is parked on the associated parking stall of detection device of stopping transmitted by measurement equipment,
The movable information of target vehicle is defined as target vehicle and is in dead ship condition；Receiving the table transmitted by parking detection device
In the case of showing the leave message that the target vehicle being parked on the parking stall associated with parking detection device leaves, by target carriage
Movable information be defined as target vehicle and be in mobile status.
In a kind of possible implementation, determining module 330 can be configured as：According to tracking camera in region institute
The picture frame of shooting, determine movement locus of the target vehicle in region.
In a kind of possible implementation, vehicle tracking device 300 can also include checking module, checking module with really
Cover half block 330 connects, for the vehicle in the picture frame according to captured by exit camera, to identified target vehicle most
The movable information of rear region is proofreaded, wherein, exit camera is installed on the outlet in parking lot, and final area is finally to follow the trail of
Being taken the photograph except the shooting area of last tracking camera and with finally following the trail of the adjacent tracking of camera in the shooting area of camera
As the shooting area of head overlapping region beyond region, finally follow the trail of camera be that the tracking nearest apart from exit camera is taken the photograph
As head.
On the device in above-described embodiment, wherein modules perform the concrete mode of operation in relevant this method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
Fig. 4 is a kind of block diagram of device 1900 for car tracing according to an exemplary embodiment.For example, dress
Put 1900 and may be provided in a server.Reference picture 4, device 1900 include processing component 1922, and it further comprises one
Or multiple processors, and as the memory resource representated by memory 1932, can holding by processing component 1922 for storing
Capable instruction, such as application program.The application program stored in memory 1932 can include one or more each
The individual module for corresponding to one group of instruction.In addition, processing component 1922 is configured as execute instruction, to perform the above method.
Device 1900 can also include a power supply module 1926 and be configured as the power management of performs device 1900, one
Wired or wireless network interface 1950 is configured as device 1900 being connected to network, and input and output (I/O) interface
1958.Device 1900 can be operated based on the operating system for being stored in memory 1932, such as Windows ServerTM, Mac
OS XTM, UnixTM, LinuxTM, FreeBSDTM or similar.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instructing, example are additionally provided
Such as include the memory 1932 of instruction, above-mentioned instruction can be performed to complete the above method by the processing component 1922 of device 1900.
For example, the non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape,
Floppy disk and optical data storage devices etc..
It is described above the presently disclosed embodiments, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
The principle of each embodiment, practical application or technological improvement to the technology in market are best being explained, or is leading this technology
Other those of ordinary skill in domain are understood that each embodiment disclosed herein.
Claims (12)
1. a kind of car tracing method, applied to parking lot, it is characterised in that the entrance in the parking lot is provided with entrance shooting
Head, multiple tracking cameras are provided with the parking lot, and the shooting area of the adjacent tracking camera of any two has weight
Folded region, the car tracing method include：
Identify the target vehicle in the picture frame captured by the entrance camera；
The 1st tracking camera in the multiple tracking camera is in region S11Captured picture frame, determine the mesh
Vehicle is marked in the region S11In movable information, wherein, it is described 1st tracking camera it is nearest apart from the entrance camera,
The region S11Be it is described 1st tracking camera shooting area in except the described 1st tracking camera shooting area and with
Region beyond the overlapping region of the shooting area of the adjacent tracking camera of the 1st tracking camera；
N tracking cameras and the N-1 adjacent with N tracking cameras in the multiple tracking camera chase after
Track camera is in region SN1Captured picture frame, determine the target vehicle in the region SN1Movable information, wherein,
The region SN1Be N tracking camera shooting area and N-1 tracking cameras shooting area it is overlapping
Region, the N are greater than 1 natural number；
Camera is followed the trail of in region S according to the NN2Captured picture frame, determine the target vehicle in the region SN2
Movable information, wherein, the region SN2Be N tracking camera shooting area in remove the region SN1And area
Domain SN3Region in addition, the region SN3It is the shooting area of the N trackings camera and follows the trail of camera with the N
The overlapping region of the shooting area of adjacent N+1 tracking cameras；
Camera is followed the trail of according to the N and the N+1 follows the trail of camera in region SN3Captured picture frame, it is determined that described
Target vehicle is in the region SN3Movable information.
2. car tracing method according to claim 1, it is characterised in that according to captured by tracking camera in region
Picture frame, movable information of the target vehicle in the region is determined, including：
The vehicle that judges to identify in the M picture frames in the picture frame captured by the region with captured by the region
Picture frame in M-1 picture frames in the vehicle that identifies whether match, wherein, the M is greater than 1 natural number；
The vehicle identified in the M picture frames are judged as matches with the vehicle identified in the M-1 picture frames
In the case of, according to position of the vehicle identified in the M picture frames in the M picture frames and in the M-1
Position in picture frame, determine the movable information of vehicle identified in the M picture frames；
Mismatched in the vehicle for being judged as identifying in the M picture frames with the vehicle identified in the M-1 picture frames
In the case of, the tracked information of the vehicle identified in the M picture frames is defined as what is identified in the M picture frames
Vehicle belongs to newly-increased vehicle.
3. car tracing method according to claim 2, it is characterised in that according to what is identified in the M picture frames
Position of the vehicle in the M picture frames and the position in the M-1 picture frames, determine to know in the M picture frames
The movable information for the vehicle not gone out, including：
According to position of the vehicle identified in the M picture frames in the M picture frames and in the M-1 picture frames
In position, the vehicle for determining to identify in the M picture frames relative to the vehicle identified in the M picture frames car
The displacement of head；
Be in the direction of the displacement just and the displacement size be not 0 in the case of, will be identified in the M picture frames
The movable information vehicle that is defined as identifying in the M picture frames of vehicle be in forward travel state；
It is that in the case that the size of negative and described displacement is not 0, will be identified in the M picture frames in the direction of the displacement
The movable information vehicle that is defined as identifying in the M picture frames of vehicle be in state of rolling backward；
In the case where the size of the displacement is 0, the movable information of the vehicle identified in the M picture frames is defined as
The vehicle identified in the M picture frames remains static.
4. car tracing method according to claim 3, it is characterised in that also include：
It is associated with the parking detection device receiving the expression transmitted by the parking detection device in the parking lot
In the case of the parking information that the target vehicle is parked on parking stall, the movable information of the target vehicle is defined as the mesh
Mark vehicle is in dead ship condition；
Stopped on the parking stall associated with the parking detection device of the expression transmitted by the parking detection device is received
In the case of the leave message that some target vehicles leave, the movable information of the target vehicle is defined as the target vehicle
In mobile status.
5. car tracing method according to claim 1, it is characterised in that according to captured by tracking camera in region
Picture frame, movable information of the target vehicle in the region is determined, including：
Picture frame according to captured by tracking camera in region, determines movement locus of the target vehicle in the region.
6. car tracing method according to any one of claim 1 to 5, it is characterised in that also include：
The vehicle in picture frame according to captured by exit camera, to the identified target vehicle final area fortune
Dynamic information is proofreaded, wherein, the exit camera is installed on the outlet in the parking lot, and the final area is finally to chase after
In the shooting area of track camera camera phase is finally followed the trail of except the shooting area of the last tracking camera and with described
Region beyond the overlapping region of the shooting area of adjacent tracking camera, the last tracking camera is apart from the outlet
The nearest tracking camera of camera.
7. a kind of vehicle tracking device, applied to parking lot, it is characterised in that the entrance in the parking lot is provided with entrance shooting
Head, multiple tracking cameras are provided with the parking lot, and the shooting area of the adjacent tracking camera of any two has weight
Folded region, the vehicle tracking device include：
Identification module, for identifying the target vehicle in the picture frame captured by the entrance camera；
Determining module, it is connected with the identification module, the determining module is used for：
The 1st tracking camera in the multiple tracking camera is in region S11Captured picture frame, determine the mesh
Vehicle is marked in the region S11In movable information, wherein, it is described 1st tracking camera it is nearest apart from the entrance camera,
The region S11Be it is described 1st tracking camera shooting area in except the described 1st tracking camera shooting area and with
Region beyond the overlapping region of the shooting area of the adjacent tracking camera of the 1st tracking camera；
N tracking cameras and the N-1 adjacent with N tracking cameras in the multiple tracking camera chase after
Track camera is in region SN1Captured picture frame, determine the target vehicle in the region SN1Movable information, wherein,
The region SN1Be N tracking camera shooting area and N-1 tracking cameras shooting area it is overlapping
Region, the N are greater than 1 natural number；
Camera is followed the trail of in region S according to the NN2Captured picture frame, determine the target vehicle in the region SN2
Movable information, wherein, the region SN2Be N tracking camera shooting area in remove the region SN1And area
Domain SN3Region in addition, the region SN3It is the shooting area of the N trackings camera and follows the trail of camera with the N
The overlapping region of the shooting area of adjacent N+1 tracking cameras；
Camera is followed the trail of according to the N and follows the trail of camera in region S with the N+1N3Captured picture frame, determine institute
Target vehicle is stated in the region SN3Movable information.
8. vehicle tracking device according to claim 7, it is characterised in that the determining module is configured as：
The vehicle that judges to identify in the M picture frames in the picture frame captured by the region with captured by the region
Picture frame in M-1 picture frames in the vehicle that identifies whether match, wherein, the M is greater than 1 natural number；
The vehicle identified in the M picture frames are judged as matches with the vehicle identified in the M-1 picture frames
In the case of, according to position of the vehicle identified in the M picture frames in the M picture frames and in the M-1
Position in picture frame, determine the movable information of vehicle identified in the M picture frames；
Mismatched in the vehicle for being judged as identifying in the M picture frames with the vehicle identified in the M-1 picture frames
In the case of, the tracked information of the vehicle identified in the M picture frames is defined as what is identified in the M picture frames
Vehicle belongs to newly-increased vehicle.
9. vehicle tracking device according to claim 8, it is characterised in that the determining module is configured as：
According to position of the vehicle identified in the M picture frames in the M picture frames and in the M-1 picture frames
In position, the vehicle for determining to identify in the M picture frames relative to the vehicle identified in the M picture frames car
The displacement of head；
Be in the direction of the displacement just and the displacement size be not 0 in the case of, will be identified in the M picture frames
The movable information vehicle that is defined as identifying in the M picture frames of vehicle be in forward travel state；
It is that in the case that the size of negative and described displacement is not 0, will be identified in the M picture frames in the direction of the displacement
The movable information vehicle that is defined as identifying in the M picture frames of vehicle be in state of rolling backward；
In the case where the size of the displacement is 0, the movable information of the vehicle identified in the M picture frames is defined as
The vehicle identified in the M picture frames remains static.
10. vehicle tracking device according to claim 9, it is characterised in that the determining module is additionally operable to：
It is associated with the parking detection device receiving the expression transmitted by the parking detection device in the parking lot
In the case of the parking information that the target vehicle is parked on parking stall, the movable information of the target vehicle is defined as the mesh
Mark vehicle is in dead ship condition；
Stopped on the parking stall associated with the parking detection device of the expression transmitted by the parking detection device is received
In the case of the leave message that some target vehicles leave, the movable information of the target vehicle is defined as the target vehicle
In mobile status.
11. vehicle tracking device according to claim 7, it is characterised in that the determining module is configured as：
Picture frame according to captured by tracking camera in region, determines movement locus of the target vehicle in the region.
12. the vehicle tracking device according to any one of claim 7 to 11, it is characterised in that also include：
Checking module, it is connected with the determining module, for the vehicle in the picture frame according to captured by exit camera, to institute
The target vehicle determined is proofreaded in the movable information of final area, wherein, the exit camera is installed on described
The outlet in parking lot, the final area are except the last tracking camera in the shooting area of last tracking camera
Region beyond the overlapping region of the shooting area of shooting area and the tracking camera adjacent with the last tracking camera,
The last tracking camera is the tracking camera nearest apart from the exit camera.
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|---|---|---|---|
| CN201710547293.9A CN107529665A (en) | 2017-07-06 | 2017-07-06 | Car tracing method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710547293.9A CN107529665A (en) | 2017-07-06 | 2017-07-06 | Car tracing method and device |
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