CN105513173A - Dual-laser-ranging-based passenger flow direction recognition method and system - Google Patents
Dual-laser-ranging-based passenger flow direction recognition method and system Download PDFInfo
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Abstract
The present invention relates to a dual-laser-ranging-based passenger flow direction recognition method and system. The method is as follows: obtaining a first pedestrian characteristic passing through a detecting surface of a laser detection device; obtaining a second pedestrian characteristic passing through the detecting surface of the laser detection device; successively matching entry time and / or departure time, heights, widths and positions in the first pedestrian characteristic and the second pedestrian characteristic, if the entry time and / or departure time, the heights, the widths and the positions all are matched, determining that the first pedestrian characteristic and the second pedestrian characteristic is a same pedestrian; comparing the entry time and / or departure time in the first pedestrian characteristic and the second pedestrian characteristic with one or more time parameter in time for a highest point to pass through the detecting surface, and according to comparison results, recognizing the direction of travel of the pedestrian in a detection channel; and according to the direction of travel of each pedestrian, obtaining the passenger flow direction in the detection channel. The method uses two laser scanning devices ranging without tracing of pedestrians, improves the speed of statistics, and is applied to large passenger flow detection sites.
Description
Technical field
The present invention relates to passenger flow statistics technical field, particularly relate to a kind of passenger flow direction recognizing method based on double excitation range finding and system.
Background technology
Along with expanding economy, flow of personnel aggravates, be everlasting during the public place such as causing transport hub, museum, exhibition center and large-scale activity on-the-spot and passenger flow jam situation occur rush hour, emergency case and unfavorable the caused harm of passenger flow condition monitoring also more and more serious.Therefore need to analyze passenger flow, effectively control intensity of passenger flow, prevent the crowded generation of even trampling the occurred events of public safeties such as injury of stream of people's transition.For public transportation systems such as railway, subway and buses, when the flow direction of each bar circuit of full and accurate grasp, website passenger flow, stream, the information such as flow and distribution thereof, will public transport company's line adjustment be facilitated and reasonable disposition be carried out to vehicle resources.
In order to obtain volume of the flow of passengers data accurately, being utilize manual type in the past, and arranging special messenger to carry out visual counting and measurement to critical area.But along with intensity of passenger flow is increasing and the energy of monitor staff is limited, manual method as understanding qualitatively, can only be difficult to do quantitative test, also be difficult to apply on a large scale.Realized the robotization of passenger flow statistics in prior art in prior art, such as: (1) porch arranges the contact method of mechanical lifeline: arrange mechanical lifeline in porch, strictly controls gateway order, counting accurately.But can simultaneously as the mechanical railing of entrance with the passage of outlet for being arranged on, then there is difficulty in the direction adding up pedestrian.(2) based on the non-contact method of machine vision: the method for machine vision is relative to the speed that can improve statistics mechanical railing, but for the machine for two-way sense channel, machinery requirement carries out detecting and tracking to pedestrian, thus judge the direction of pedestrian, Statistical Rate is caused to be affected, and be subject to the impact of environment, light, be not suitable for the detection place of large passenger flow.
Summary of the invention
One of them object of the present invention is to provide a kind of passenger flow direction recognizing method based on double excitation range finding and system, is not suitable for solve mechanical railing and visual machine in prior art the technical matters that large passenger flow detects place.
For achieving the above object, first aspect, embodiments provides a kind of passenger flow direction recognizing method based on double excitation range finding, comprising:
Obtain first pedestrian's feature by the detection faces of the first laser detector, wherein said first pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time;
Obtain second pedestrian's feature by the second laser detector detection faces, wherein said second pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time;
Mate successively entry time in described first pedestrian's feature and described second pedestrian's feature and/or time departure, highly, width and position, if all fit through, then described first pedestrian's feature and described second pedestrian are characterized as same pedestrian;
To contrast in described first pedestrian's feature and described second pedestrian's feature entry time, time departure and peak by time parameter one or more in the detection faces time, according to the direct of travel of this pedestrian of comparing result identification in sense channel;
According to the direct of travel of each pedestrian, obtain the passenger flow direction in described sense channel.
Alternatively, described entry time of mating successively in described first pedestrian's feature and described second pedestrian's feature, time departure, highly, width and position, if all fit through, then described first pedestrian's feature and described second pedestrian are characterized as in the step of same pedestrian, comprising:
Contrast the entry time in described first pedestrian's feature and described second pedestrian's feature and/or time departure respectively, with the difference of the difference and/or time departure that obtain entry time; If the difference of the difference of entry time and/or time departure is in preset time range, enters next step and continue coupling;
Contrast the height in described first pedestrian's feature and described second pedestrian's feature and/or width respectively, to obtain height difference and/or width differential; If height difference at preset height difference range and/or width differential, enters next step and continues coupling in predetermined width difference range;
Contrast the position in described first pedestrian's feature and described second pedestrian's feature, to obtain position difference; If position difference is in predeterminated position difference range, described first pedestrian's feature and described second pedestrian's feature represent same pedestrian.
Alternatively, in the described first pedestrian's feature of described contrast and described second pedestrian's feature, entry time, time departure and peak are by one or more time parameter in the detection faces time, in step according to the direct of travel of this pedestrian of comparing result identification in sense channel, following formula is adopted to obtain the direct of travel of this pedestrian in sense channel:
In formula, orient representative turnover direction, when orient is that 1 interval scale pedestrian enters sense channel, when orient is that 0 interval scale pedestrian leaves sense channel; ITA, ITB are entry time in entry time in first pedestrian's feature, second pedestrian's feature; OTA, OTB are time departure in entry time in first pedestrian's feature, second pedestrian's feature; HTA, HTB be in entry time in first pedestrian's feature, second pedestrian's feature peak by the detection faces time.
Second aspect, the embodiment of the present invention additionally provides a kind of passenger flow direction discernment system based on double excitation range finding, comprising: the first laser detector, the second laser detector and treating apparatus, wherein:
Described first laser detector is arranged on the tip position of sense channel and its angle can cover described sense channel, for obtaining first pedestrian's feature of the detection faces by this laser detector, wherein said first pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time;
Described second laser detector be arranged on sense channel pedestrian turnover direction on and keep predeterminable range for obtaining second pedestrian's feature by this laser detector detection faces with described first laser detector, wherein said second pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time;
Described treating apparatus is connected with described first laser detector and described second laser detector, for obtaining the passenger flow direction in sense channel.
Alternatively, described treating apparatus comprises:
Matching unit, for mate successively entry time in described first pedestrian's feature and described second pedestrian's feature and/or time departure, highly, width and position, if all fit through, then described first pedestrian's feature and described second pedestrian are characterized as same pedestrian;
Direct of travel recognition unit, for contrasting in described first pedestrian's feature and described second pedestrian's feature entry time, time departure and peak by time parameter one or more in the detection faces time, according to the direct of travel of this pedestrian of comparing result identification in sense channel;
Passenger flow direction acquiring unit, for the direct of travel according to each pedestrian, obtains the passenger flow direction in described sense channel.
Alternatively, described matching unit comprises:
First contrast unit, for contrasting entry time in described first pedestrian's feature and described second pedestrian's feature and/or time departure respectively, with the difference of the difference and/or time departure that obtain entry time; If the difference of the difference of entry time and/or time departure is in preset time range, enters next step and continue coupling;
Second contrast unit, for contrasting height in described first pedestrian's feature and described second pedestrian's feature and/or width respectively, to obtain height difference and/or width differential; If height difference at preset height difference range and/or width differential, enters next step and continues coupling in predetermined width difference range;
3rd contrast unit, for contrasting the position in described first pedestrian's feature and described second pedestrian's feature, to obtain position difference; If position difference is in predeterminated position difference range, described first pedestrian's feature and described second pedestrian's feature represent same pedestrian.
Alternatively, in described direct of travel recognition unit, following formula is adopted to obtain the direct of travel of this pedestrian in sense channel:
In formula, orient representative turnover direction, when orient is that 1 interval scale pedestrian enters sense channel, when orient is that 0 interval scale pedestrian leaves sense channel; ITA, ITB are entry time in entry time in first pedestrian's feature, second pedestrian's feature; OTA, OTB are time departure in entry time in first pedestrian's feature, second pedestrian's feature; HTA, HTB be in entry time in first pedestrian's feature, second pedestrian's feature peak by the detection faces time.
The present invention adopts two laser scanning device range findings, avoids the impact of environment and light; Further, detect pedestrian's image respectively by two laser scanning devices, do not need to follow the trail of pedestrian, improve the Statistical Speed of system; In addition, laser scanning device sweep length can reach 20 meters, can be applied to the detection place of large passenger flow.
Accompanying drawing explanation
Can understanding the features and advantages of the present invention clearly by reference to accompanying drawing, accompanying drawing is schematic and should not be construed as and carry out any restriction to the present invention, in the accompanying drawings:
Fig. 1 is a kind of passenger flow direction recognizing method schematic flow sheet based on double excitation range finding that the embodiment of the present invention provides;
Fig. 2 is a kind of passenger flow direction discernment system chart based on double excitation range finding that the embodiment of the present invention provides;
Fig. 3 is the method flow schematic diagram of the acquisition pedestrian direct of travel that the embodiment of the present invention provides;
Fig. 4 is the two laser detector Cleaning Principle figure that the embodiment of the present invention provides;
Fig. 5 is the treating apparatus structured flowchart that the embodiment of the present invention provides.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
First aspect, embodiments provides a kind of passenger flow direction recognizing method based on double excitation range finding, as shown in Figure 1, comprising:
Obtain first pedestrian's feature by the detection faces of the first laser detector, wherein first pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time;
Obtain second pedestrian's feature by the second laser detector detection faces, wherein second pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time;
Mate successively entry time in first pedestrian's feature and second pedestrian's feature and/or time departure, highly, width and position, if all fit through, then first pedestrian's feature and the second pedestrian are characterized as same pedestrian;
To contrast in first pedestrian's feature and second pedestrian's feature entry time, time departure and peak by time parameter one or more in the detection faces time, according to the direct of travel of this pedestrian of comparing result identification in sense channel;
According to the direct of travel of each pedestrian, obtain the passenger flow direction in sense channel.
Below passenger flow direction recognizing method provided by the invention is described in detail.
As shown in Figure 2, passenger flow direction recognizing method provided by the invention, for being provided with the passenger flow direction discernment system of two laser detectors.First laser detector 200 is arranged on the tip position of sense channel 100 and its angle can cover this sense channel 100.The direction of sense channel pedestrian turnover is also provided with the second laser detector 300 keeping predeterminable range with the first laser detector 200.Wherein, the sensing range of the first laser detector 200 is detection faces 201, and the sensing range of the second laser detector 300 is detection faces 301.
Will be understood that, above the installation site of the first laser detector 200 and the second laser detector 300 keeps predeterminable range to refer to, this predeterminable range can make two laser detectors normally work, and both can not form interference.This projected distance is not fixed value, and those skilled in the art can carry out reasonable set according to concrete use scenes, and the present invention is not construed as limiting.
When pedestrian is through detection faces 201, the first laser detector 200 obtains first pedestrian's feature by detection faces 201.This first pedestrian feature comprises: highly, width, position, entry time, time departure and peak be by the detection faces time.Will be understood that, moment when entry time refers to that pedestrian has just entered detection faces; Moment when time departure refers to that pedestrian has just left detection faces; Peak was referred to by the detection faces time, and the head of people is positioned at the moment of detection faces.
Because the spacing of the detection faces 201 of the first laser detector 200 and the detection faces 301 of the second laser detector is not too large, after pedestrian leaves detection faces 201, can enter detection faces 301, now the second laser detector 300 can obtain second pedestrian's feature by detection faces 301.Identical with first pedestrian's feature, this second pedestrian feature comprises height, width, position, entry time, time departure and peak by the detection faces time.
After the first laser detector 200 gets first pedestrian's feature and the second laser detector 300 gets second pedestrian's feature, need the direct of travel according to above-mentioned first pedestrian's feature and the second each pedestrian of pedestrian's feature identification, as shown in Figure 3, identification step is as follows:
S1, contrast entry time in described first pedestrian's feature and described second pedestrian's feature and/or time departure respectively, with the difference of the difference and/or time departure that obtain entry time; If the difference of the difference of entry time and/or time departure is in preset time range, enters next step and continue coupling.
Will be understood that, because two detection faces maintain a certain distance, therefore can there is certain difference through the entry time of two detection faces and time departure in pedestrian.The difference of entry time and the difference of time departure, the distance between needing according to two detection faces and the gait of march of pedestrian are arranged, and for different sense channels, above-mentioned difference can rationally be arranged.
S2, contrast height in described first pedestrian's feature and described second pedestrian's feature and/or width respectively, to obtain height difference and/or width differential; If height difference at preset height difference range and/or width differential, enters next step and continues coupling in predetermined width difference range.
S3, the position contrasted in described first pedestrian's feature and described second pedestrian's feature, to obtain position difference; If position difference is in predeterminated position difference range, described first pedestrian's feature and described second pedestrian's feature represent same pedestrian.
Will be understood that, the difference of position refers to, the transverse shifting of the position of pedestrian in two detection faces.Under normal circumstances, if when same person is advanced, the distance between two detection faces is not too large, the transverse shifting of pedestrian is very little, can according to the difference of the reasonable setting position of distance between two detection faces.
S4, to contrast in first pedestrian's feature and second pedestrian's feature entry time, time departure and peak by time parameter one or more in the detection faces time, according to the direct of travel of this pedestrian of comparing result identification in sense channel;
Will be understood that, when identifying direct of travel, because pedestrian is different through the moment of two detection faces, then can entry time, time departure peak be identified by one or more time parameter in the detection faces time.Alternatively, identify in the embodiment of the present invention in the step of the direct of travel of this pedestrian in sense channel, adopt following formula to obtain the direct of travel of this pedestrian in sense channel:
In formula, orient representative turnover direction, when orient is that 1 interval scale pedestrian enters sense channel, when orient is that 0 interval scale pedestrian leaves sense channel; ITA, ITB are entry time in entry time in first pedestrian's feature, second pedestrian's feature; OTA, OTB are time departure in entry time in first pedestrian's feature, second pedestrian's feature; HTA, HTB be in entry time in first pedestrian's feature, second pedestrian's feature peak by the detection faces time.
Entry time such as through detection faces 200 is: 5 points 30 seconds, and through the entry time of detection faces 300 be: 5 points 31 seconds, and define, from detection faces 200 to detection faces 300 for entering sense channel, then the direct of travel of pedestrian is for entering sense channel.Other situation can be arranged according to the above description.
Second aspect, the embodiment of the present invention additionally provides a kind of passenger flow direction discernment system based on double excitation range finding, as shown in Figure 4, comprising: the first laser detector, the second laser detector and treating apparatus, wherein:
First laser detector 200 is arranged on the tip position of sense channel 100 and its angle can cover sense channel, and the direction of sense channel pedestrian turnover is also provided with the second laser detector 300 keeping predeterminable range with the first laser detector; First laser detector 200 is for obtaining first pedestrian's feature of the detection faces by this laser detector, and wherein first pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time; Second laser detector 300 is for obtaining second pedestrian's feature by this laser detector detection faces, and wherein second pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time;
Treating apparatus 400 is connected with the first laser detector 200 and the second laser detector 300, for obtaining the passenger flow direction in sense channel 100.
Alternatively, as shown in Figure 5, above-mentioned treating apparatus 400 comprises:
Matching unit, for mate successively entry time in first pedestrian's feature and second pedestrian's feature and/or time departure, highly, width and position, if all fit through, then first pedestrian's feature and the second pedestrian are characterized as same pedestrian; If coupling is not passed through, then first pedestrian's feature and the second pedestrian are characterized as two pedestrians
Direct of travel recognition unit, for contrasting in first pedestrian's feature and second pedestrian's feature entry time, time departure and peak by time parameter one or more in the detection faces time, according to the direct of travel of this pedestrian of comparing result identification in sense channel;
Passenger flow direction acquiring unit, for the direct of travel according to each pedestrian, obtains the passenger flow direction in sense channel.
Alternatively, matching unit comprises:
First contrast unit, for contrasting entry time in first pedestrian's feature and second pedestrian's feature and/or time departure respectively, with the difference of the difference and/or time departure that obtain entry time; If the difference of the difference of entry time and/or time departure is in preset time range, enters next step and continue coupling;
Second contrast unit, for contrasting height in first pedestrian's feature and second pedestrian's feature and/or width respectively, to obtain height difference and/or width differential; If height difference at preset height difference range and/or width differential, enters next step and continues coupling in predetermined width difference range;
3rd contrast unit, for contrasting the position in first pedestrian's feature and second pedestrian's feature, to obtain position difference; If position difference is in predeterminated position difference range, first pedestrian's feature and described second pedestrian's feature represent same pedestrian.
Alternatively, in direct of travel recognition unit, following formula is adopted to obtain the direct of travel of this pedestrian in sense channel:
In formula, orient representative turnover direction, when orient is that 1 interval scale pedestrian enters sense channel, when orient is that 0 interval scale pedestrian leaves sense channel; ITA, ITB are entry time in entry time in first pedestrian's feature, second pedestrian's feature; OTA, OTB are time departure in entry time in first pedestrian's feature, second pedestrian's feature; HTA, HTB be in entry time in first pedestrian's feature, second pedestrian's feature peak by the detection faces time.
Passenger flow direction discernment system provided by the invention realizes based on passenger flow direction recognizing method mentioned above, and thus can solve same technical matters, and obtain identical technique effect, this is no longer going to repeat them.
The passenger flow direction recognizing method based on double excitation range finding that the embodiment of the present invention provides and system, adopt two laser scanning device range findings, avoid the impact of environment and light; Further, detect pedestrian's image respectively by two laser scanning devices, do not need to follow the trail of pedestrian, improve the Statistical Speed of system; In addition, laser scanning device sweep length can reach 20 meters, can be applied to the detection place of large passenger flow.
In the present invention, term " first ", " second ", " the 3rd " only for describing object, and can not be interpreted as instruction or hint relative importance.Term " multiple " refers to two or more, unless otherwise clear and definite restriction.
Although describe embodiments of the present invention by reference to the accompanying drawings, but those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, such amendment and modification all fall into by within claims limited range.
Claims (7)
1., based on a passenger flow direction recognizing method for double excitation range finding, it is characterized in that, comprising:
Obtain first pedestrian's feature by the detection faces of the first laser detector, wherein said first pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time;
Obtain second pedestrian's feature by the second laser detector detection faces, wherein said second pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time;
Mate successively entry time in described first pedestrian's feature and described second pedestrian's feature and/or time departure, highly, width and position, if all fit through, then described first pedestrian's feature and described second pedestrian are characterized as same pedestrian;
To contrast in described first pedestrian's feature and described second pedestrian's feature entry time, time departure and peak by time parameter one or more in the detection faces time, according to the direct of travel of this pedestrian of comparing result identification in sense channel;
According to the direct of travel of each pedestrian, obtain the passenger flow direction in described sense channel.
2. passenger flow direction recognizing method according to claim 1, it is characterized in that, described entry time of mating successively in described first pedestrian's feature and described second pedestrian's feature, time departure, highly, width and position, if all fit through, then described first pedestrian's feature and described second pedestrian are characterized as in the step of same pedestrian, comprising:
Contrast the entry time in described first pedestrian's feature and described second pedestrian's feature and/or time departure respectively, with the difference of the difference and/or time departure that obtain entry time; If the difference of the difference of entry time and/or time departure is in preset time range, enters next step and continue coupling;
Contrast the height in described first pedestrian's feature and described second pedestrian's feature and/or width respectively, to obtain height difference and/or width differential; If height difference at preset height difference range and/or width differential, enters next step and continues coupling in predetermined width difference range;
Contrast the position in described first pedestrian's feature and described second pedestrian's feature, to obtain position difference; If position difference is in predeterminated position difference range, described first pedestrian's feature and described second pedestrian's feature represent same pedestrian.
3. passenger flow direction recognizing method according to claim 1, it is characterized in that, in the described first pedestrian's feature of described contrast and described second pedestrian's feature, entry time, time departure and peak are by one or more time parameter in the detection faces time, in step according to the direct of travel of this pedestrian of comparing result identification in sense channel, following formula is adopted to obtain the direct of travel of this pedestrian in sense channel:
In formula, orient representative turnover direction, when orient is that 1 interval scale pedestrian enters sense channel, when orient is that 0 interval scale pedestrian leaves sense channel; ITA, ITB are entry time in entry time in first pedestrian's feature, second pedestrian's feature; OTA, OTB are time departure in entry time in first pedestrian's feature, second pedestrian's feature; HTA, HTB be in entry time in first pedestrian's feature, second pedestrian's feature peak by the detection faces time.
4., based on a passenger flow direction discernment system for double excitation range finding, it is characterized in that, comprising: the first laser detector, the second laser detector and treating apparatus, wherein:
Described first laser detector is arranged on the tip position of sense channel and its angle can cover described sense channel, for obtaining first pedestrian's feature of the detection faces by this laser detector, wherein said first pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time;
Described second laser detector be arranged on sense channel pedestrian turnover direction on and keep predeterminable range for obtaining second pedestrian's feature by this laser detector detection faces with described first laser detector, wherein said second pedestrian's feature comprises height, width, position, entry time, time departure and peak by the detection faces time;
Described treating apparatus is connected with described first laser detector and described second laser detector, for obtaining the passenger flow direction in sense channel.
5. passenger flow direction discernment system according to claim 4, it is characterized in that, described treating apparatus comprises:
Matching unit, for mate successively entry time in described first pedestrian's feature and described second pedestrian's feature and/or time departure, highly, width and position, if all fit through, then described first pedestrian's feature and described second pedestrian are characterized as same pedestrian;
Direct of travel recognition unit, for contrasting in described first pedestrian's feature and described second pedestrian's feature entry time, time departure and peak by time parameter one or more in the detection faces time, according to the direct of travel of this pedestrian of comparing result identification in sense channel;
Passenger flow direction acquiring unit, for the direct of travel according to each pedestrian, obtains the passenger flow direction in described sense channel.
6. passenger flow direction discernment system according to claim 5, it is characterized in that, described matching unit comprises:
First contrast unit, for contrasting entry time in described first pedestrian's feature and described second pedestrian's feature and/or time departure respectively, with the difference of the difference and/or time departure that obtain entry time; If the difference of the difference of entry time and/or time departure is in preset time range, enters next step and continue coupling;
Second contrast unit, for contrasting height in described first pedestrian's feature and described second pedestrian's feature and/or width respectively, to obtain height difference and/or width differential; If height difference at preset height difference range and/or width differential, enters next step and continues coupling in predetermined width difference range;
3rd contrast unit, for contrasting the position in described first pedestrian's feature and described second pedestrian's feature, to obtain position difference; If position difference is in predeterminated position difference range, described first pedestrian's feature and described second pedestrian's feature represent same pedestrian.
7. passenger flow direction discernment system according to claim 5, is characterized in that, in described direct of travel recognition unit, adopts following formula to obtain the direct of travel of this pedestrian in sense channel:
In formula, orient representative turnover direction, when orient is that 1 interval scale pedestrian enters sense channel, when orient is that 0 interval scale pedestrian leaves sense channel; ITA, ITB are entry time in entry time in first pedestrian's feature, second pedestrian's feature; OTA, OTB are time departure in entry time in first pedestrian's feature, second pedestrian's feature; HTA, HTB be in entry time in first pedestrian's feature, second pedestrian's feature peak by the detection faces time.
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| CN110806588A (en) * | 2019-10-17 | 2020-02-18 | 北醒（北京）光子科技有限公司 | Pedestrian flow detection system based on laser radar |
| 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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| 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 |
| 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 |
| CN204463274U (en) * | 2015-03-19 | 2015-07-08 | 武汉万集信息技术有限公司 | The single laser pedestrian detection device of a kind of inclination |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110806588A (en) * | 2019-10-17 | 2020-02-18 | 北醒（北京）光子科技有限公司 | Pedestrian flow detection system based on laser radar |
| 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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