CN102521906A - Passenger flow direction identification method based on double laser ranging and device thereof - Google Patents
Passenger flow direction identification method based on double laser ranging and device thereof Download PDFInfo
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Abstract
The invention relates to a passenger flow direction identification method based on double laser ranging and a device thereof. The method mainly comprises the following steps: 1, acquiring pedestrian information through respectively emitting laser beams to pedestrian channel surfaces by two laser scanners; 2, determining a same pedestrian is identified by the two laser scanners according to pedestrian coordinate data and times one pedestrian enters or departs from detection surfaces of the two laser scanners acquired by the two laser scanners and preset thresholds; and 3, determining the walking direction of the same pedestrian between the two laser scanners according to at least two of a difference between times the same pedestrian enters the detection surfaces of the two laser scanners respectively, a difference between times the same pedestrian departs from the detection surfaces of the two laser scanners respectively and a difference between times the highest point of the same pedestrian passes by the detection surfaces of the two laser scanners respectively. According to the embodiment in the invention, the walking direction of the pedestrian in a detection channel can be effectively identified.
Description
Technical Field
The invention relates to the technical field of computer application, in particular to a passenger flow direction identification method and device based on double-laser ranging.
Background
With the continuous development of national economy, the commercial competition is intensified day by day, the passenger flow condition is estimated only by experience, and the decision making based on the estimation cannot follow the trend of the times; meanwhile, in public places such as transportation hubs, museums, exhibition halls and large-scale activity sites, passenger flow congestion often occurs at peak hours, and harm caused by unfavorable monitoring of passenger flow conditions in the emergency situation is more and more serious.
In order to obtain accurate passenger flow volume data, a person is arranged to visually count and measure key areas in a manual mode. However, with the increasing density of the passenger flow and the limited energy of people, the manual method can only be used for qualitative understanding, is difficult to perform quantitative analysis, and is difficult to popularize and apply in a large range.
The key technology of the passenger flow statistics system is the detection of pedestrians. To obtain passenger flow data with high accuracy, statistics needs to be performed by detecting each pedestrian. The quality of the pedestrian detection algorithm is the key to the success of the development of the passenger flow statistical system.
An automatic passenger flow statistics method in the prior art mainly comprises the following steps: a non-contact statistical method. The method is based on machine vision, which is an emerging solution at present, and some image processing-based methods are applied to the field of passenger flow statistics.
The automatic passenger flow statistics method in the prior art has the following defects: the non-contact statistical method cannot effectively identify the walking direction of the pedestrian, is easily influenced by the environment and light, and cannot be applied to detection places with large passenger flow.
Disclosure of Invention
The embodiment of the invention provides a passenger flow direction identification method and device based on double-laser ranging, so that the walking direction of a pedestrian in a detection channel can be effectively identified.
A passenger flow direction identification method based on double-laser ranging comprises the following steps:
two laser scanners are adopted to respectively emit laser beams to the channel surface of the pedestrian to acquire the information of the pedestrian;
determining that the two laser scanners identify the same pedestrian according to the coordinate data of the pedestrian acquired by the two laser scanners, the time for the pedestrian to enter or leave the detection surfaces of the two laser scanners and a set threshold value;
and judging the walking direction of the same pedestrian between the two laser scanners according to at least two of the difference between the time when the same pedestrian respectively enters the detection surfaces of the two laser scanners, the difference between the time when the same pedestrian respectively leaves the detection surfaces of the two laser scanners and the difference between the time when the highest point of the same pedestrian respectively passes through the detection surfaces of the two laser scanners.
A passenger flow direction recognition device based on double laser ranging comprises:
the pedestrian information acquisition module is used for acquiring pedestrian information by respectively emitting laser beams to a channel surface of a pedestrian by adopting two laser scanners;
the same pedestrian identification module is used for determining that the two laser scanners identify the same pedestrian according to the coordinate data of the pedestrian acquired by the two laser scanners, the time for the pedestrian to enter or leave the detection surfaces of the two laser scanners and a set threshold value;
and the pedestrian direction determining module is used for judging the walking direction of the same pedestrian between the two laser scanners according to at least two of the difference value between the time when the same pedestrian respectively enters the detection surfaces of the two laser scanners, the difference value between the time when the same pedestrian respectively leaves the detection surfaces of the two laser scanners and the difference value between the time when the highest point of the same pedestrian respectively passes through the detection surfaces of the two laser scanners.
According to the technical scheme provided by the embodiment of the invention, the two laser scanners are arranged on the pedestrian detection channel to respectively acquire the coordinate data of the pedestrian and the time of entering or leaving the detection surface of the laser scanner, so that the walking direction of the pedestrian in the detection channel can be effectively identified.
Drawings
Fig. 1 is a schematic diagram illustrating an implementation principle of a passenger flow direction identification method based on dual laser ranging according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a detailed process of a passenger flow direction identification method based on dual laser ranging according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a sampling line, a sampling angular frequency and a detection angle according to an embodiment of the present invention;
fig. 4 is a specific structural diagram of a passenger flow direction identification device based on dual laser ranging according to a second embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, a person will clearly and completely describe the embodiments of the present invention with reference to the accompanying drawings.
Example one
With the continuous development of computer technology, the passenger flow statistics has started to enter an information and automation stage, and the real-time passenger flow information statistics by using a computer has become possible. The schematic diagram of the implementation principle of the passenger flow direction identification method based on dual-laser ranging provided by the embodiment is shown in fig. 1, and the specific processing flow is shown in fig. 2, and specifically includes the following steps 21 to 23.
And step 21, emitting laser beams to the channel surface of the pedestrian by adopting two laser scanners respectively to acquire pedestrian information.
The embodiment of the invention is characterized in that two laser scanners are arranged right above a pedestrian detection channel, the two laser scanners are parallel in position, and detection surfaces formed by the laser scanners are distributed in parallel with the channel surface. The distance between the two laser scanners is less than a set value, which may be 20 cm.
Each laser scanner emits a row of laser beams according to the set sampling angular frequency, the set detection angle and the set sampling period, and each row of laser beams comprises a plurality of sampling lines to form a detection surface. The detection surface and the channel surface are distributed in parallel, and pedestrian information can be obtained as long as pedestrians pass through the detection surface. The sampling angular frequency is an angle between two adjacent sampling lines, and the detection angle is an angle between the leftmost sampling line and the rightmost sampling line, namely an angle range of a detection surface of the laser scanner. A schematic diagram of the sampling line, the sampling angular frequency and the detection angle is shown in fig. 3.
The sampling period is different according to the angular frequency, see table 1. The number of sampling lines is calculated according to the sampling angular frequency and the value of the detection angle. The number of sampling lines is equal to the detection angle/sampling angular frequency + 1. For example, the sampling angular frequency is 0.5 °, the detection angle is 180, the sampling period is 26ms, and there are 361 sampling lines.
TABLE 1 sampling angular frequency and sampling period correspondence table
| Sampling angular frequency | 0.25° | 0.5° | 1° |
| Sampling period (ms) | 53 | 26 | 13 |
Each of the laser scanners receives a data packet containing position information of a pedestrian in a reflected beam reflected from the detection surface, and analyzes the data packet to obtain information of the pedestrian, wherein the information of the pedestrian comprises: coordinate data of a pedestrian, time when the pedestrian enters or leaves the detection surfaces of the two laser scanners, and time when the highest point of the pedestrian passes the detection surfaces of the two laser scanners, the coordinate data including: x-axis coordinate data and Y-axis coordinate data, the Y-axis coordinate data representing height information of the pedestrian.
And step 22, determining that the two laser scanners identify the same pedestrian according to the coordinate data of the pedestrian acquired by the two laser scanners, the time when the pedestrian enters or leaves the detection surfaces of the two laser scanners and a set threshold value.
The two laser scanners are judged to identify the same pedestrian and need to simultaneously meet the following 3 judgment conditions:
judgment condition 1: the difference value between the time of the pedestrian entering or leaving the detection surfaces of the two laser scanners, which is acquired by the two laser scanners respectively, is smaller than a set threshold value. The time threshold to be set is set according to the specific situation, and is usually set to about 3 seconds.
And judging that the difference value between the X-axis coordinate data of the pedestrians respectively acquired by the two laser scanners under the condition 2 is smaller than a set threshold value. The set X-axis coordinate threshold is usually set to be the width of half of a normal pedestrian, and is usually about 30-40 cm.
The judgment condition 3 is that the difference between the Y-axis coordinate data of the pedestrian acquired by the two laser scanners is smaller than the set Y-axis coordinate threshold set by the set threshold, which is usually set as the height of the head of the pedestrian, and is usually about 25-30 cm.
And when one of the 3 judgment conditions is not met, determining that the two laser scanners do not identify the same pedestrian. Only if the above-mentioned 3 judgment conditions are satisfied simultaneously, it can be determined that the two laser scanners recognize the same pedestrian.
And step 23, judging the walking direction of the same pedestrian between the two laser scanners according to at least two of the difference between the time when the same pedestrian respectively enters the detection surfaces of the two laser scanners, the difference between the time when the same pedestrian respectively leaves the detection surfaces of the two laser scanners and the difference between the time when the highest point of the same pedestrian respectively passes through the detection surfaces of the two laser scanners.
For example, the two laser scanners include: the pedestrian detection device comprises a first laser scanner B and a second laser scanner A, wherein InTime _ B is the time when the same pedestrian enters a detection surface of the first laser scanner B, OutTime _ B is the time when the same pedestrian leaves the detection surface of the first laser scanner B, and HeadTime _ B is the time when the highest point of the same pedestrian passes through the detection surface of the first laser scanner B. The instatime _ a is the time when the same pedestrian enters the detection surface of the second laser scanner a, the OutTime _ a is the time when the same pedestrian leaves the detection surface of the second laser scanner a, and the HeadTime _ a is the time when the highest point of the same pedestrian passes through the detection surface of the second laser scanner a.
When the time that the same pedestrian enters the first laser scanner is longer than the time that the same pedestrian enters the second laser scanner, the time that the pedestrian leaves the first laser scanner is longer than the time that the pedestrian leaves the second laser scanner, namely:
(InTime_B-InTime_A)＞0)&&(OutTime_B-OutTime_A)
determining the walking direction of the same pedestrian between the two laser scanners as follows: from the second laser scanner to the first laser scanner.
When the time that same pedestrian got into first laser scanner is greater than the time of getting into the second laser scanner, the time that the peak of same pedestrian passes through the detection face of first laser scanner is greater than the time that passes through the detection face of second laser scanner, promptly:
(InTime_B-InTime_A)＞0)&&(HeadTime_B-HeadTime_A)
determining the walking direction of the same pedestrian between the two laser scanners as follows: from the second laser scanner to the first laser scanner.
When the time that the same pedestrian leaves the first laser scanner is longer than the time that the same pedestrian leaves the second laser scanner, the time that the highest point of the same pedestrian passes through the detection surface of the first laser scanner is longer than the time that the highest point of the same pedestrian passes through the detection surface of the second laser scanner. Namely:
(OutTime_B-OutTime_A)＞0)&&(HeadTime_B-HeadTime_A)
determining the walking direction of the same pedestrian between the two laser scanners as follows: from the second laser scanner to the first laser scanner.
Finally, the system can count the passenger flow in and out of the passage after obtaining the advancing direction of the pedestrian.
Example two
The embodiment provides a passenger flow direction identification device based on double-laser ranging, the specific structure of which is shown in fig. 4, and the passenger flow direction identification device comprises the following modules:
a pedestrian information obtaining module 41, configured to obtain information of a pedestrian by respectively emitting laser beams to a channel surface of the pedestrian by using two laser scanners;
the same pedestrian identification module 42 is used for determining that the two laser scanners identify the same pedestrian according to the coordinate data of the pedestrian acquired by the two laser scanners, the time when the pedestrian enters or leaves the detection surfaces of the two laser scanners and a set threshold value;
and a pedestrian direction determining module 43, configured to determine a walking direction of the same pedestrian between the two laser scanners according to at least two of a difference between times when the same pedestrian enters the detection surfaces of the two laser scanners, a difference between times when the same pedestrian leaves the detection surfaces of the two laser scanners, and a difference between times when a highest point of the same pedestrian passes through the detection surfaces of the two laser scanners, respectively.
Specifically, the pedestrian information obtaining module 41 is further configured to install two parallel laser scanners above a pedestrian detection channel, where a distance between the two laser scanners is smaller than a set value, and the two laser scanners emit a row of laser beams according to a set sampling angular frequency, a set detection angle, and a set sampling period, so as to form a detection surface;
receiving a data packet containing position information of the pedestrian in the reflected light beam reflected from the detection surface, and analyzing the data packet to obtain information of the pedestrian, wherein the information of the pedestrian comprises: the pedestrian detection system comprises X-axis coordinate data and Y-axis coordinate data of pedestrians, time when the pedestrians enter or leave detection surfaces of the two laser scanners and time when the highest point of the pedestrians passes through the detection surfaces of the two laser scanners.
Specifically, the same pedestrian identification module 42 is further configured to determine whether a difference between times of pedestrians entering or leaving detection surfaces of the two laser scanners, which are acquired by the two laser scanners respectively, is smaller than a set threshold; the difference value between the X-axis coordinate data of the pedestrians respectively acquired by the two laser scanners is smaller than a set threshold value; and if the difference value between the Y-axis coordinate data of the pedestrians respectively acquired by the two laser scanners is smaller than a set threshold value, determining that the two laser scanners identify the same pedestrian.
Specifically, the pedestrian direction determining module 43 is further configured to, when the two laser scanners include: the method comprises the steps that a first laser scanner and a second laser scanner are arranged, the time that the same pedestrian enters the first laser scanner is longer than the time that the same pedestrian enters the second laser scanner, the time that the same pedestrian leaves the first laser scanner is longer than the time that the same pedestrian leaves the second laser scanner, and then the same pedestrian is determined to walk from the second laser scanner to the first laser scanner;
or,
when the time that the same pedestrian enters the first laser scanner is longer than the time that the same pedestrian enters the second laser scanner, and the time that the highest point of the same pedestrian passes through the detection surface of the first laser scanner is longer than the time that the highest point of the same pedestrian passes through the detection surface of the second laser scanner, determining that the same pedestrian travels from the second laser scanner to the first laser scanner;
or,
and when the time that the same pedestrian leaves the first laser scanner is longer than the time that the same pedestrian leaves the second laser scanner, and the time that the highest point of the same pedestrian passes through the detection surface of the first laser scanner is longer than the time that the highest point of the same pedestrian passes through the detection surface of the second laser scanner, determining that the same pedestrian walks to the first laser scanner from the second laser scanner.
The specific processing procedure for identifying the passenger flow direction by using the device of the embodiment of the invention is similar to that of the method embodiment, and is not described again here.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
In summary, in the embodiments of the present invention, two laser scanners are installed on a pedestrian detection channel to respectively acquire coordinate data of a pedestrian and time of entering or leaving a detection surface of the laser scanner, so that a walking direction of a traveling person in the detection channel can be effectively identified.
The embodiment of the invention can quickly and effectively measure the pedestrian information passing through the detection channel from different directions under the condition of not obstructing the free access of the pedestrians, avoids the influence of the environment and the light on the measurement effect, and can be completely applied to the detection places with large passenger flow.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A passenger flow direction identification method based on double-laser ranging is characterized by comprising the following steps:
two laser scanners are adopted to respectively emit laser beams to the channel surface of the pedestrian to acquire the information of the pedestrian;
determining that the two laser scanners identify the same pedestrian according to the coordinate data of the pedestrian acquired by the two laser scanners, the time for the pedestrian to enter or leave the detection surfaces of the two laser scanners and a set threshold value;
and judging the walking direction of the same pedestrian between the two laser scanners according to at least two of the difference between the time when the same pedestrian respectively enters the detection surfaces of the two laser scanners, the difference between the time when the same pedestrian respectively leaves the detection surfaces of the two laser scanners and the difference between the time when the highest point of the same pedestrian respectively passes through the detection surfaces of the two laser scanners.
2. The laser ranging-based passenger flow statistical method according to claim 1, wherein the acquiring of the pedestrian information by emitting laser beams to the pedestrian passage surface with two laser scanners respectively comprises:
two parallel laser scanners are arranged above a pedestrian detection channel, the distance between the two laser scanners is smaller than a set numerical value, and the two laser scanners emit a column of laser beams according to set sampling angular frequency, a set detection angle and a set sampling period to form a detection surface;
receiving a data packet containing position information of the pedestrian in the reflected light beam reflected from the detection surface, and analyzing the data packet to obtain information of the pedestrian, wherein the information of the pedestrian comprises: the pedestrian detection system comprises X-axis coordinate data and Y-axis coordinate data of pedestrians, time when the pedestrians enter or leave detection surfaces of the two laser scanners and time when the highest point of the pedestrians passes through the detection surfaces of the two laser scanners.
3. The laser ranging-based passenger flow statistical method according to claim 2, wherein the determining that the two laser scanners identify the same pedestrian according to the coordinate data of the pedestrian acquired by the two laser scanners, the time when the pedestrian enters or leaves the detection surfaces of the two laser scanners and the set threshold comprises:
when the difference value between the time of the pedestrian entering or leaving the detection surfaces of the two laser scanners, which is acquired by the two laser scanners respectively, is smaller than a set threshold value; the difference value between the X-axis coordinate data of the pedestrians respectively acquired by the two laser scanners is smaller than a set threshold value; and if the difference value between the Y-axis coordinate data of the pedestrians respectively acquired by the two laser scanners is smaller than a set threshold value, determining that the two laser scanners identify the same pedestrian.
4. The laser ranging-based passenger flow statistic method according to claim 1, 2 or 3, wherein the step of determining the walking direction of the same pedestrian between the two laser scanners according to at least two of the difference between the time when the same pedestrian enters the detection surfaces of the two laser scanners, the difference between the time when the same pedestrian leaves the detection surfaces of the two laser scanners and the difference between the time when the highest point of the same pedestrian passes the detection surfaces of the two laser scanners respectively comprises:
the two laser scanners include: first laser scanner and second laser scanner work as same pedestrian gets into the time of first laser scanner is greater than and gets into the time of second laser scanner, leaves the time of first laser scanner is greater than and leaves the time of second laser scanner, then confirm same pedestrian walks from the second laser scanner to first laser scanner.
5. The laser ranging-based passenger flow statistic method according to claim 1, 2 or 3, wherein the step of determining the walking direction of the same pedestrian between the two laser scanners according to at least two of the difference between the time when the same pedestrian enters the detection surfaces of the two laser scanners, the difference between the time when the same pedestrian leaves the detection surfaces of the two laser scanners and the difference between the time when the highest point of the same pedestrian passes the detection surfaces of the two laser scanners respectively comprises:
the two laser scanners include: first laser scanner and second laser scanner work as same pedestrian gets into the time of first laser scanner is greater than and gets into the time of second laser scanner, the peak of same pedestrian passes through the time of the detection face of first laser scanner is greater than and passes through the time of the detection face of second laser scanner, then confirms same pedestrian walks from second laser scanner to first laser scanner.
6. The laser ranging-based passenger flow statistic method according to claim 1, 2 or 3, wherein the step of determining the walking direction of the same pedestrian between the two laser scanners according to at least two of the difference between the time when the same pedestrian enters the detection surfaces of the two laser scanners, the difference between the time when the same pedestrian leaves the detection surfaces of the two laser scanners and the difference between the time when the highest point of the same pedestrian passes the detection surfaces of the two laser scanners respectively comprises:
the two laser scanners include: and when the same pedestrian leaves the first laser scanner for a time longer than that of leaving the second laser scanner, the highest point of the same pedestrian passes through the detection surface of the first laser scanner for a time longer than that of passing through the detection surface of the second laser scanner, and the same pedestrian is determined to walk to the first laser scanner from the second laser scanner.
7. The utility model provides a passenger flow direction recognition device based on two laser rangefinder which characterized in that includes:
the pedestrian information acquisition module is used for acquiring pedestrian information by respectively emitting laser beams to a channel surface of a pedestrian by adopting two laser scanners;
the same pedestrian identification module is used for determining that the two laser scanners identify the same pedestrian according to the coordinate data of the pedestrian acquired by the two laser scanners, the time for the pedestrian to enter or leave the detection surfaces of the two laser scanners and a set threshold value;
and the pedestrian direction determining module is used for judging the walking direction of the same pedestrian between the two laser scanners according to at least two of the difference value between the time when the same pedestrian respectively enters the detection surfaces of the two laser scanners, the difference value between the time when the same pedestrian respectively leaves the detection surfaces of the two laser scanners and the difference value between the time when the highest point of the same pedestrian respectively passes through the detection surfaces of the two laser scanners.
8. The laser ranging-based passenger flow statistics device of claim 7, wherein:
the pedestrian information acquisition module is also used for installing two parallel laser scanners above a pedestrian detection channel, the distance between the two laser scanners is smaller than a set numerical value, and the two laser scanners emit a column of laser beams according to a set sampling angular frequency, a set detection angle and a set sampling period to form a detection surface;
receiving a data packet containing position information of the pedestrian in the reflected light beam reflected from the detection surface, and analyzing the data packet to obtain information of the pedestrian, wherein the information of the pedestrian comprises: the pedestrian detection system comprises X-axis coordinate data and Y-axis coordinate data of pedestrians, time when the pedestrians enter or leave detection surfaces of the two laser scanners and time when the highest point of the pedestrians passes through the detection surfaces of the two laser scanners.
9. The laser ranging-based passenger flow statistics device of claim 7, wherein:
the same pedestrian identification module is further used for judging whether the difference value between the time of the pedestrians entering or leaving the detection surfaces of the two laser scanners, which is acquired by the two laser scanners respectively, is smaller than a set threshold value; the difference value between the X-axis coordinate data of the pedestrians respectively acquired by the two laser scanners is smaller than a set threshold value; and if the difference value between the Y-axis coordinate data of the pedestrians respectively acquired by the two laser scanners is smaller than a set threshold value, determining that the two laser scanners identify the same pedestrian.
10. The laser ranging based passenger flow statistics device according to claim 7, 8 or 9, characterized in that:
the pedestrian direction determination module is further configured to determine whether the two laser scanners include: the method comprises the steps that a first laser scanner and a second laser scanner are arranged, the time that the same pedestrian enters the first laser scanner is longer than the time that the same pedestrian enters the second laser scanner, the time that the same pedestrian leaves the first laser scanner is longer than the time that the same pedestrian leaves the second laser scanner, and then the same pedestrian is determined to walk from the second laser scanner to the first laser scanner;
or,
when the time that the same pedestrian enters the first laser scanner is longer than the time that the same pedestrian enters the second laser scanner, and the time that the highest point of the same pedestrian passes through the detection surface of the first laser scanner is longer than the time that the highest point of the same pedestrian passes through the detection surface of the second laser scanner, determining that the same pedestrian travels from the second laser scanner to the first laser scanner;
or,
and when the time that the same pedestrian leaves the first laser scanner is longer than the time that the same pedestrian leaves the second laser scanner, and the time that the highest point of the same pedestrian passes through the detection surface of the first laser scanner is longer than the time that the highest point of the same pedestrian passes through the detection surface of the second laser scanner, determining that the same pedestrian walks to the first laser scanner from the second laser scanner.
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| CN104112305A (en) * | 2013-10-17 | 2014-10-22 | 北京竞业达数码科技有限公司 | Passenger flow monitoring method and apparatus based on dual laser ranging |
| CN104112305B (en) * | 2013-10-17 | 2016-04-13 | 北京竞业达数码科技有限公司 | Based on passenger flow monitoring method and the device of double excitation range finding |
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| CN105488455A (en) * | 2015-11-20 | 2016-04-13 | 北京市交通信息中心 | Laser ranging based passenger flow statistics method and apparatus |
| CN105513173A (en) * | 2015-11-20 | 2016-04-20 | 北京市交通信息中心 | Dual-laser-ranging-based passenger flow direction recognition method and system |
| 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 |
| CN105488455B (en) * | 2015-11-20 | 2019-03-01 | 北京市交通信息中心 | A kind of passenger flow statistical method and device based on laser ranging |
| CN107436440A (en) * | 2017-09-22 | 2017-12-05 | 乐山师范学院 | Stream of people's system for measuring quantity based on scanning type laser ranging |
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| 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 |
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