CN101644717B - Pedestrian advancing direction judging method adopting laser scanning - Google Patents
Pedestrian advancing direction judging method adopting laser scanning Download PDFInfo
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- CN101644717B CN101644717B CN2009100916500A CN200910091650A CN101644717B CN 101644717 B CN101644717 B CN 101644717B CN 2009100916500 A CN2009100916500 A CN 2009100916500A CN 200910091650 A CN200910091650 A CN 200910091650A CN 101644717 B CN101644717 B CN 101644717B
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Abstract
The invention provides a pedestrian advancing direction judging method adopting laser scanning, comprising the following steps: respectively carrying out laser scanning on two parallel cross sections in the pedestrian advancing direction to obtain a first laser scanning data and a second laser scanning data; and determining the pedestrian advancing direction according to the first laser scanning data and the second laser scanning data. The invention can rapidly judge the pedestrian advancing direction effectively, is not easy to be influenced by an external environment and is convenient to be installed and maintained, thereby having good market prospect.
Description
Technical field
The present invention relates to a kind of pedestrian advancing direction judging method that adopts laser scanning.
Background technology
At present, along with the continuous construction of rapid economy development, infrastructure, extensive frequent day by day the holding of organization activity, mobile crowded place, increasing such as the flow of personnel amount that public transport, subway, airport, railway station etc. are local.Meanwhile, detect the passenger flow information that is obtained by passenger flow and also become increasingly complex, quantity of information is also huge day by day.Passenger flow information is a significant data of weighing operation situation, by the statistical study to passenger flow information, not only can obtain the passenger flow operation conditions of this traffic zone, and can utilize the detection data effectively to organize operation, scheduling to arrange work.Simultaneously,, also good forewarning function can be played, in case of emergency emergency measure can also be optimized for the bigger zone of people's current density.
Yet detection and the statistical analysis technique for the volume of the flow of passengers also rests on reduced levels always at present.In most of the cases, be based on infrared technique and/or video technique and carry out passenger flow check and analysis such as demographics.Further, prior art generally is to adopt methods such as Video Detection, coil-induced, pressure sensitive to carry out the judgement of pedestrian advancing direction, and this class technology often exists and is subjected to that weather, shelter, shade etc. influence, cost height, algorithm complexity, be unfavorable for shortcoming such as installation and maintenance.Since laser scanning have be difficult for affected by environment, algorithm simple, be beneficial to characteristic such as installation and maintenance, therefore the better development prospect is arranged at the passenger flow detection range.
Therefore, need a kind of method that can judge pedestrian advancing direction easily.
Summary of the invention
The invention provides a kind of determination methods of pedestrian advancing direction of the employing laser scanning that can overcome the above problems.
In first aspect, the invention provides a kind of pedestrian advancing direction judging method that adopts laser scanning: comprise respectively two parallel cutting surfaces on the pedestrian advancing direction are carried out laser scanning, obtain first and second laser scanning datas; Determine pedestrian's working direction according to first laser scanning data and second laser scanning data, comprise the following steps: described first laser scanning data and described second laser scanning data are analyzed, draw one or more first pedestrian's data respectively by scanning plane, and one or more second pedestrian's data, described pedestrian's data comprise that the pedestrian passes through the position and the time of scanning plane; Position and time according to described first pedestrian's data are determined a seek scope, find second pedestrian's data in this seek scope; More described first pedestrian's data and described second pedestrian's data judge that according to comparative result they belong to same pedestrian; Judge pedestrian's working direction according to the described time relationship that belongs to two pedestrian's data of same pedestrian.
In second aspect, the invention provides a kind of pedestrian advancing direction judgment means that adopts laser scanning: comprising: modules A, be used for respectively two parallel cutting surfaces on the pedestrian advancing direction being carried out laser scanning, obtain first and second laser scanning datas; Module B, be used for determining pedestrian's working direction according to first laser scanning data and second laser scanning data, module B comprises: first module, be used for described first laser scanning data and described second laser scanning data are analyzed, draw one or more first pedestrian's data respectively by scanning plane, and one or more second pedestrian's data, described pedestrian's data comprise that the pedestrian passes through the position and the time of scanning plane; Second module is used for determining a seek scope according to the position and the time of described first pedestrian's data, finds second pedestrian's data in this seek scope; Three module is used for more described first pedestrian's data and described second pedestrian's data, judges that according to comparative result they belong to same pedestrian; Four module is used for judging according to the time relationship of described two pedestrian's data that belong to same pedestrian pedestrian's working direction.
The present invention carries out two laser scannings by adopting the parallel and very near section of distance of two of passenger flow passage, can fast and effeciently judge pedestrian's working direction, and not be subject to the influence of external environment, the installation and maintenance of being more convenient for.
Description of drawings
Below with reference to accompanying drawings specific embodiments of the present invention is described in detail, in the accompanying drawings:
Fig. 1 is the schematic top plan view according to of the present invention pair of laser scanning.
Fig. 2 is the synoptic diagram that employing laser scanning according to an embodiment of the invention is judged pedestrian advancing direction.
Fig. 3 is the process flow diagram that employing laser scanning is according to another embodiment of the invention judged pedestrian advancing direction.
Embodiment
The method according to this invention is, two adjacent very near and parallel sections to the passenger flow passage carry out vertical laser scanning respectively, obtain the laser scanning data of these two scanning planes, the distance between two scanning planes can be arranged to that roughly the health thickness with a people is suitable.Then, search according to two parts of laser scanning datas and whether have with a group traveling together by described two scanning planes.At last, determine its working direction according to this pedestrian by the sequencing of two scanning planes.
Fig. 1 is the schematic top plan view according to of the present invention pair of laser scanning.
As shown in Figure 1, in the passenger flow passage two be parallel to each other and two sections of close together carry out laser scanning, the distance between two scanning planes is configured to be roughly a pedestrian's health thickness.Some circle representatives among the figure are by the pedestrian of scanning plane, and the arrow on the circle is represented pedestrian's working direction.
Fig. 2 is the synoptic diagram of the two laser scannings of employing according to an embodiment of the invention to pedestrian advancing direction judging method.
In general, laser scanning module is launched by the point by point scanning mode and is received laser beam, thereby obtains the laser scanning data of each frame.Laser beam sweep limit on the ground is starting point and the terminal point of this section in the ground projection, and described starting point and terminal point can freely be set, and can set a plurality of.Specifically, laser scanning data comprises distance, sweep time and the sweep frequency of the scan origin of scanned object range sweep module.Laser scanning data and manikin storehouse are compared, can draw the profile information of human body, comprise height, width of human body or the like.Like this, can comprise time, position, pedestrian height and the pedestrian width of this pedestrian by pedestrian's data that laser scanning data analysis is drawn by laser scanning face.
As shown in Figure 2,, two parts of laser scanning datas be can draw respectively, first laser scanning data and second laser scanning data are referred to as hereinafter owing to adopted the mode of two laser scannings that the passenger flow passage is scanned.First laser scanning data and second laser scanning data are analyzed, can draw position and the time of pedestrian by scanning plane, set up a class coordinate system based on this, X direction is the position of pedestrian by scanning plane, represent with x, y direction is the time of pedestrian by scanning plane, represents with t.This shows that first laser scanning data is represented the position time relationship of the scan-data of its a certain frame among Fig. 2, second laser scanning data has been represented the position time relationship of the scan-data of its certain three frames.
First laser scanning data is analyzed, supposing has pedestrian A by laser scanning face, just can obtain pedestrian's data of this pedestrian A, be referred to as pedestrian's data A, can comprise time, position, pedestrian height, the pedestrian width of pedestrian A by scanning plane, in this pedestrian A time location coordinate in the drawings with (x, t) expression.
Next, based on second laser scanning data, be to search in the Frame of t and the front and back multiframe thereof in its time.For simplicity, for second laser scanning data, only show the schematic lines of 4 frame laser scanning datas among the figure, respectively corresponding time t-t ', t, t1 and t+t ', yet should be pointed out that the laser scanning data that in described time range, can comprise some frames.In each frame laser scanning data, the position range of searching is x ± x '.Find the scope of time and position, promptly the x ' shown in the figure, t ' can rule of thumb be worth and set in advance.As seen, in described time and position range, there are pedestrian's data of a pedestrian B among the figure, be referred to as pedestrian's data B, equally also comprise time, position, pedestrian height, the pedestrian width of pedestrian B by scanning plane, in the pedestrian B time location coordinate in the drawings with (x1, t1) expression.。
Then, pedestrian's data A and pedestrian's data B are compared.Because first, second laser scanning section is parallel and distance is very near, so same pedestrian's height, width have only very that bigger deviation can appear in small probability in very short time, thereby can judge whether these two groups of profile informations belong to same pedestrian according to predetermined allowable error.Particularly, if the comparative result of pedestrian's data A and pedestrian's data B is in predetermined error permissible range, just can draw this pedestrian's data A and pedestrian's data B belongs to a pedestrian.If two groups of pedestrian's data do not belong to same pedestrian, then continue in scope, to continue to search and step relatively, till two groups of pedestrian's data that find belong to same pedestrian.
If determined that above-mentioned two groups of profile informations belong to same pedestrian,, just can judge the sequencing of this pedestrian, i.e. this pedestrian's working direction by the first and second laser scanning faces so based on the relation between time of occurrence t and the time of occurrence t1.
Fig. 3 is the process flow diagram that employing laser scanning is according to another embodiment of the invention judged pedestrian advancing direction.
In like manner,, two parts of laser scanning datas be can draw respectively, first laser scanning data and second laser scanning data are referred to as hereinafter owing to adopted the mode of two laser scannings that the passenger flow passage is scanned.
As shown in Figure 3, described first laser scanning data and described second laser scanning data are analyzed, draw respectively by one or more first pedestrian's data, and one or more second pedestrian's data, wherein, pedestrian's data can comprise position, the time of pedestrian by laser scanning face, and this pedestrian's height and width.
Then, one or more first pedestrian's data and one or more second pedestrian's data are contrasted in twos.If alternate position spike in one of them first pedestrian's data and one of them second pedestrian's data and mistiming all in the predetermined threshold value scope, can think that then these two pedestrian's data belong to same pedestrian.Be to be understood that, because first, second laser scanning section is parallel and distance is very near, same pedestrian too big variation unlikely occurs by the time and the position of the first laser scanning face and the second laser scanning face, therefore as long as the variation of time in two pedestrian's data and position in less threshold range, just can judge that they belong to a pedestrian.
In another example, can also more strictly limit the condition that two pedestrian's data belong to same pedestrian, in order to avoid small probability event occurs, in two laser scanning faces working direction appears suddenly departing from such as the pedestrian, situations such as violent suddenly change pace.For this reason, the contrast in twos of pedestrian's data not only comprises alternate position spike and the mistiming in one of them first pedestrian's data of comparison and one of them second pedestrian's data, but also comprises pedestrian's height and pedestrian's width in two pedestrian's data of comparison.If the difference of alternate position spike, mistiming, pedestrian's height and the difference of pedestrian's width all within predetermined threshold range, can think that then these two pedestrian's data belong to same pedestrian.
After drawing two parts of pedestrian's data that belong to same pedestrian, according to the time of the pedestrian in these two pedestrian's data, then can know the sequencing of this pedestrian by two laser scanning faces by scanning plane, can draw this pedestrian's working direction.
Obviously, under the prerequisite that does not depart from true spirit of the present invention and scope, the present invention described here can have many variations.Therefore, the change that all it will be apparent to those skilled in the art that all should be included within the scope that these claims contain.The present invention's scope required for protection is only limited by described claims.
Claims (6)
1. pedestrian advancing direction judging method that adopts laser scanning: comprising:
Respectively two parallel cutting surfaces on the pedestrian advancing direction are carried out laser scanning, obtain first and second laser scanning datas;
Described first laser scanning data and described second laser scanning data are analyzed, draw one or more first pedestrian's data respectively by parallel cutting surfaces, and one or more second pedestrian's data, described pedestrian's data comprise that the pedestrian passes through the position and the time of parallel cutting surfaces, pedestrian's height and width;
Position and time according to described first pedestrian's data are determined a seek scope, find second pedestrian's data in this seek scope;
More described first pedestrian's data and described second pedestrian's data judge that according to comparative result they belong to same pedestrian;
Judge pedestrian's working direction according to the described time relationship that belongs to two pedestrian's data of same pedestrian.
2. pedestrian advancing direction judging method that adopts laser scanning comprises:
Respectively two parallel cutting surfaces on the pedestrian advancing direction are carried out laser scanning, obtain first and second laser scanning datas;
Described first laser scanning data and described second laser scanning data are analyzed, draw one or more first pedestrian's data respectively by parallel cutting surfaces, and one or more second pedestrian's data, described pedestrian's data comprise that the pedestrian passes through the position and the time of parallel cutting surfaces, pedestrian's height and width;
Described first pedestrian's data and described second pedestrian's data are contrasted in twos, judge that according to comparative result they belong to same pedestrian;
Judge pedestrian's working direction according to the described time relationship that belongs to two pedestrian's data of same pedestrian.
3. method according to claim 1 and 2, wherein, two pedestrian's data belong to the condition that same pedestrian need satisfy and comprise:
The absolute value of the difference of two positions is in predetermined threshold range; And
The absolute value of the difference of two times is in predetermined threshold range.
4. method according to claim 3, wherein, two pedestrian's data belong to the condition that same pedestrian need satisfy and also comprise:
The absolute value of the difference of two pedestrians height in predetermined threshold range, and
The absolute value of the difference of two pedestrian's width is in predetermined threshold range.
5. method according to claim 1 and 2, wherein, the distance between described two parallel cutting surfaces is a pedestrian's a health thickness.
6. pedestrian advancing direction judgment means that adopts laser scanning: comprising:
Modules A is used for respectively two parallel cutting surfaces on the pedestrian advancing direction being carried out laser scanning, obtains first and second laser scanning datas;
Module B is used for determining according to first laser scanning data and second laser scanning data pedestrian's working direction;
Wherein module B comprises:
First module, be used for described first laser scanning data and described second laser scanning data are analyzed, draw one or more first pedestrian's data respectively by parallel cutting surfaces, and one or more second pedestrian's data, described pedestrian's data comprise that the pedestrian passes through the position and the time of parallel cutting surfaces, pedestrian's height and width;
Second module is used for determining a seek scope according to the position and the time of described first pedestrian's data, finds second pedestrian's data in this seek scope;
Three module is used for more described first pedestrian's data and described second pedestrian's data, judges that according to comparative result they belong to same pedestrian;
Four module is used for judging according to the time relationship of described two pedestrian's data that belong to same pedestrian pedestrian's working direction.
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| CN2009100916500A CN101644717B (en) | 2009-08-31 | 2009-08-31 | Pedestrian advancing direction judging method adopting laser scanning |
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| CN2009100916500A CN101644717B (en) | 2009-08-31 | 2009-08-31 | Pedestrian advancing direction judging method adopting laser scanning |
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| CN101644717B true CN101644717B (en) | 2011-06-08 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102306285B (en) * | 2011-08-15 | 2013-07-17 | 北京北大千方科技有限公司 | Human shape recognition method |
| CN102496200A (en) * | 2011-12-12 | 2012-06-13 | 北京竞业达数码科技有限公司 | Passenger flow statistical method and passenger flow statistical device based on laser ranging |
| CN102521906A (en) * | 2011-12-22 | 2012-06-27 | 北京竞业达数码科技有限公司 | Passenger flow direction identification method based on double laser ranging and device thereof |
| CN105513173B (en) * | 2015-11-20 | 2018-03-16 | 北京市交通信息中心 | Passenger flow direction recognizing method and system based on bidifly ligh-ranging |
| CN106022460B (en) * | 2016-05-25 | 2018-08-10 | 重庆市勘测院 | Crowd density method of real-time based on laser radar |
| CN108470464A (en) * | 2018-03-13 | 2018-08-31 | 内蒙古天之风信息科技有限责任公司 | Bus service system and its patronage harvester, electronic stop plate |
| CN110929636A (en) * | 2019-11-20 | 2020-03-27 | 上海融军实业有限公司 | Passenger flow size and direction detection method and system |
| CN112446922A (en) * | 2020-11-24 | 2021-03-05 | 厦门熵基科技有限公司 | Pedestrian reverse judgment method and device for channel gate |
Citations (2)
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|---|---|---|---|---|
| CN1420359A (en) * | 2002-12-19 | 2003-05-28 | 北京工业大学 | High-speed flying body laser speed-measuring method and instrument |
| CN101393264A (en) * | 2008-10-12 | 2009-03-25 | 北京大学 | Moving target tracking method and system based on multi-laser scanner |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1420359A (en) * | 2002-12-19 | 2003-05-28 | 北京工业大学 | High-speed flying body laser speed-measuring method and instrument |
| CN101393264A (en) * | 2008-10-12 | 2009-03-25 | 北京大学 | Moving target tracking method and system based on multi-laser scanner |
Non-Patent Citations (1)
| Title |
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| JP特开2007-18118A 2007.01.25 |
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