CN107798685B - Pedestrian's height determines method, apparatus and system - Google Patents
Pedestrian's height determines method, apparatus and system Download PDFInfo
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Abstract
The present invention provides a kind of pedestrian's heights to determine method, apparatus and system, which comprises target pedestrian is detected in the image of video to be detected；Obtain location information of the target pedestrian frame in image coordinate system；Determine that function determines the practical height in the alive boundary's coordinate system of the target pedestrian according to the location information of the target pedestrian frame and preset height, the height determines what function was coordinately transformed between the world coordinate system and image coordinate system by homogeneous coordinates point, reaching only can need to determine that function can automatically determine the practical height of target pedestrian using the location information and preset height of target pedestrian frame when measuring pedestrian's height, it is easy to operate, convenient for improving the technical effect that pedestrian's height determines the efficiency of work.
Description
Technical field
The present invention relates to image identification technical fields, determine method, apparatus and system more particularly, to a kind of pedestrian's height.
Background technique
Currently, need in some application scenarios for needing to measure pedestrian's height using machine vision metrology pedestrian height,
Since monocular camera can not obtain depth information, it is therefore necessary to using the length of known object in scene as reference, then press
Pedestrian's height is calculated according to the ratio of pedestrian and known object；Alternatively, can also be by stereo visual system (such as binocular camera), In
Calibrating parameters are obtained after carrying out camera calibration, measure the height of pedestrian again later, above mode is both needed to very important person in measurement process
Work intervention, cumbersome, measurement efficiency is low.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of pedestrian's heights to determine method, apparatus and system, it is existing to alleviate
There is present in technology cumbersome, technical problem that measurement efficiency is low during measurement pedestrian's height.
In a first aspect, the embodiment of the invention provides a kind of pedestrian's heights to determine method, comprising:
Target pedestrian is detected in the image of video to be detected；
Obtain location information of the target pedestrian frame in image coordinate system；
Determine that function determines that the target pedestrian is alive according to the location information of the target pedestrian frame and preset height
Practical height in boundary's coordinate system, the height determine function by homogeneous coordinates point in the world coordinate system and image coordinate system
Between be coordinately transformed.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein root
Determine that function determines in the alive boundary's coordinate system of the target pedestrian according to the location information and preset height of the target pedestrian frame
Practical height, comprising:
Obtain the pixel coordinate of the target pedestrian frame；
Obtain the camera parameter precalculated；
Determine that function and the camera parameter determine the mesh based on the pixel coordinate of the target pedestrian frame, the height
Mark practical height of the pedestrian in world coordinate system.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein institute
Stating video to be detected is obtained by the imaging sensor with monocular camera lens.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein institute
It states and precalculates camera parameter and include:
Pedestrian is detected in the image of the video to be detected；
The motion profile for the pedestrian that trace detection arrives obtains the location information of pedestrian's frame of multiple pedestrians；
Numerical analysis is carried out to the location information of pedestrian's frame of the multiple pedestrian, obtains the camera parameter.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, wherein chases after
The motion profile for the pedestrian that track detects obtains the location information of pedestrian's frame of multiple pedestrians, comprising:
Selection meets the motion profile of multiple pedestrians of preset condition in the motion profile of each pedestrian tracked；
The position of pedestrian's frame of the multiple pedestrian is determined according to the motion profile of the multiple pedestrians for meeting preset condition
Confidence breath.
With reference to first aspect, the embodiment of the invention provides the 5th kind of possible embodiments of first aspect, wherein institute
Stating camera parameter includes: height of the camera in world coordinate system, the focal length of monocular camera lens and monocular camera lens after posture is fixed
Pitch angle.
With reference to first aspect, the embodiment of the invention provides the 6th kind of possible embodiments of first aspect, wherein institute
The location information for stating target pedestrian's frame includes at least: the minimum ordinate and maximum ordinate of target pedestrian's frame.
With reference to first aspect, the embodiment of the invention provides the 7th kind of possible embodiments of first aspect, wherein institute
State height transfer function are as follows:
Wherein, c is height of the camera in world coordinate system, and f is the focal length of monocular camera lens, and θ is monocular camera lens in posture
Pitch angle after fixation, h are the coordinate difference between the minimum ordinate and maximum ordinate of target pedestrian frame, yfFor target pedestrian
The minimum ordinate of frame, H are practical height.
Second aspect, the embodiment of the present invention also provide a kind of pedestrian's height determining device, comprising:
First detection module, for detecting target pedestrian in the image of video to be detected；
Module is obtained, for obtaining location information of the target pedestrian's frame in image coordinate system；
Determining module, for according to the location information of the target pedestrian frame and preset height determine function determine described in
Practical height in the alive boundary's coordinate system of target pedestrian, the height determine function by homogeneous coordinates point in the world coordinate system
It is coordinately transformed between image coordinate system.
The third aspect, the embodiment of the present invention also provide a kind of pedestrian's height and determine system, the system comprises: image sensing
Device, processor and storage device；
Described image sensor has monocular cam, for acquiring video；
Computer program is stored on the storage device, the computer program is executed when being run by the processor
Method as described in relation to the first aspect.
Fourth aspect, the embodiment of the present invention also provide a kind of meter of non-volatile program code that can be performed with processor
Calculation machine readable medium, said program code make the processor execute method described in aforementioned first aspect.
The embodiment of the present invention brings following the utility model has the advantages that the embodiment of the present invention passes through first in the image of video to be detected
Then middle detection target pedestrian obtains location information of the target pedestrian frame in image coordinate system, finally can be according to the mesh
The location information and preset height for marking pedestrian's frame determine that function determines the practical body in the alive boundary's coordinate system of the target pedestrian
Height, the height determine that function is coordinately transformed between the world coordinate system and image coordinate system by homogeneous coordinates point
It arrives.
The embodiment of the present invention can only need to be using the location information of target pedestrian frame and preset when measuring pedestrian's height
Height determines that function can automatically determine the practical height of target pedestrian, easy to operate, determines work convenient for improving pedestrian's height
Efficiency.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic block diagram of electronic equipment provided in an embodiment of the present invention；
Fig. 2 is the flow chart that pedestrian's height provided in an embodiment of the present invention determines method；
Fig. 3 is a kind of application scenarios schematic diagram provided in an embodiment of the present invention；
Fig. 4 is the flow chart that pedestrian's height provided in an embodiment of the present invention determines method；
Fig. 5 is the structure chart of pedestrian's height determining device provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
At present when measuring pedestrian's height, manpower intervention is needed in measurement process, cumbersome, measurement efficiency is low, is based on
This, a kind of pedestrian's height provided in an embodiment of the present invention determines method, apparatus and system, can only need when measuring pedestrian's height
It determines that function can automatically determine the practical height of target pedestrian using the location information and preset height of target pedestrian's frame, grasps
Make simply, convenient for improving the efficiency that pedestrian's height determines work.
The embodiment of the present invention can be applied to electronic equipment, and Fig. 1 show one of the electronic equipment of the embodiment of the present invention
Schematic block diagram.Electronic equipment 10 shown in FIG. 1 include one or more processors 102, one or more storage device 104,
Input unit 106, output device 108, imaging sensor 110 and one or more non-image sensors 114, these components are logical
Cross bus system 112 and/or other forms interconnection.It should be noted that the component and structure of electronic equipment 10 shown in FIG. 1 only show
Example property, and not restrictive, as needed, the electronic equipment also can have other components and structure.
The processor 102 may include CPU1021 and CPU1022 or have data-handling capacity and/instruction execution
The processing unit of the other forms of ability, such as field programmable gate array (Field-Programmable Gate Array,
) or advanced reduced instruction set machine (Advanced RISC (Reduced Instruction Set Computer) FPGA
Machine, ARM) etc., and processor 102 can control other components in the electronic equipment 10 to execute desired function
Energy.
The storage device 104 may include one or more computer program products, and the computer program product can
To include various forms of computer readable storage mediums, such as volatile memory 1041 and/or nonvolatile memory
1042.The volatile memory 1041 for example may include random access memory (Random Access Memory, RAM)
And/or cache memory (cache) etc..The nonvolatile memory 1042 for example may include read-only memory
(Read-Only Memory, ROM), hard disk, flash memory etc..It can store one or more on the computer readable storage medium
A computer program instructions, processor 102 can run described program instruction, to realize various desired functions.In the meter
Can also store various application programs and various data in calculation machine readable storage medium storing program for executing, for example, the application program use and/or
The various data etc. generated.
The input unit 106 can be the device that user is used to input instruction, and may include keyboard, mouse, wheat
One or more of gram wind and touch screen etc..
The output device 108 can export various information (such as image or sound) to external (such as user), and
It may include one or more of display, loudspeaker etc..
Described image sensor 110 can be shot the desired image of user (such as photo, video etc.), and will be captured
Image be stored in the storage device 104 for other components use.
It should be noted that the component and structure of electronic equipment 10 shown in FIG. 1 are only exemplary, although electricity shown in fig. 1
Sub- equipment 10 include multiple and different devices, but as needed, some of which device can not be it is necessary, therein one
The quantity of a little devices can be more etc., and the present invention does not limit this.
For convenient for understanding the present embodiment, first to a kind of pedestrian height determination side disclosed in the embodiment of the present invention
Method describes in detail, as shown in Fig. 2, pedestrian's height determines that method may comprise steps of.
Step S101 detects target pedestrian in the image of video to be detected.
In embodiments of the present invention, the video to be detected is obtained by the imaging sensor with monocular camera lens, can
Only to detect a frame image using the target detection technique in image recognition or detect the target line in each frame image respectively
People, target pedestrian can refer to the pedestrian of any height to be determined in video to be detected.In the embodiment for only detecting a frame image,
Pedestrian detection only can be carried out to first frame image, then the pedestrian that detected is tracked in a subsequent frame, to continue
Obtain the position of target pedestrian.
Step S102 obtains location information of the target pedestrian frame in image coordinate system.
Illustratively, the location information of the target pedestrian frame includes at least: the minimum ordinate of target pedestrian's frame and most
Big ordinate.
Step S103 determines that function determines the target according to the location information of the target pedestrian frame and preset height
Practical height of the pedestrian in world coordinate system.
In this step, the pixel coordinate of the target pedestrian frame can first be obtained and camera that acquisition precalculates ginseng
Number, then determine that function and the camera parameter determine the target based on the pixel coordinate of the target pedestrian frame, the height
Practical height of the pedestrian in world coordinate system.
As an example, the height transfer function can be with are as follows:
Wherein, c is height of the camera in world coordinate system, and f is the focal length of monocular camera lens, and θ is monocular camera lens in posture
Pitch angle after fixation, h are the coordinate difference between the minimum ordinate and maximum ordinate of target pedestrian frame, yfFor target pedestrian
The minimum ordinate of frame, H are practical height.
In embodiments of the present invention, the height determines that function is sat by homogeneous coordinates point in the world coordinate system and image
It is coordinately transformed between mark system, as an example, can use under type such as and determine that height determines function:
Fig. 3 is a kind of application scenarios schematic diagram of the embodiment of the present invention, in Fig. 3, if the crown of target pedestrian is in the world
Coordinate in coordinate system is (Xh,Yh,Zh), coordinate of the sole of target pedestrian in world coordinate system is (Xf,Yf,Zf), target
Coordinate of the crown of pedestrian in image coordinate system is (Xh,Yh), coordinate of the sole of target pedestrian in image coordinate system is
(Xf,Yf)。
The projection matrix of imaging sensor are as follows:
The pitch angle spin matrix of imaging sensor are as follows:
Yaw angle spin matrix are as follows:
Translation transformation matrix is
Matrix (1), (2), (3) are multiplied with (4), obtain the transformation matrix of imaging sensor:
Homogeneous coordinates point A=(X, Y, Z, 1) in world coordinate system if it exists, for the homogeneous coordinates in the plane of delineation
Point:
The y-component for considering B, i.e., convert back the coordinate in world coordinate system for homogeneous coordinates, obtained homogeneous coordinates point A=
The y-coordinate component of point in (X, Y, Z, 1) correspondence image plane, as plane homogeneous coordinates be (x, y, 1), in order to enable in coordinate
Third component be 1, separately
That is, the y-coordinate component of the point in homogeneous coordinates point A=(X, Y, Z, 1) correspondence image plane in world coordinate system
For
Since pedestrian stands on the ground, i.e. the coordinate Y=0 of pedestrian's sole, crown coordinate Y=H, then sole correspondence image
The y-coordinate y of planefAre as follows:
The y-coordinate y of crown correspondence image planehAre as follows:
(5) are utilized to solve Z:
Z is brought into the coordinate difference namely target line on the pedestrian crown and sole in the available plane of delineation in (5) and (6)
Coordinate difference h between the minimum ordinate and maximum ordinate of people's frame:
The practical height H of pedestrian in world coordinate system is solved according to (7):
As an example, the camera parameter may include: height of the camera in world coordinate system, monocular camera lens
The pitch angle etc. of focal length and monocular camera lens after posture is fixed, it is further noted that the posture in monocular camera lens is changed
Afterwards, since the parameters such as pitch angle change, so needing to re-use step S201, S202, S203 in following Example
Camera parameter is calculated with S204.
As an example, before step S101, as shown in figure 4, the camera parameter that precalculates includes: that can wrap
Include following steps.
Step S201 detects pedestrian in the image of the video to be detected.
Step S202, the motion profile for the pedestrian that trace detection arrives obtain the location information of pedestrian's frame of multiple pedestrians.
In the step, selection meets the fortune of multiple pedestrians of preset condition in the motion profile of each pedestrian tracked
Dynamic rail mark；The position of pedestrian's frame of the multiple pedestrian is determined according to the motion profile of the multiple pedestrians for meeting preset condition
Information.Illustratively, meet that testing result confidence level that preset condition can be obtained with fingering row pedestrian detection is higher or movement
Track is longer and continuous etc..
Step S203 carries out numerical analysis to the location information of pedestrian's frame of the multiple pedestrian, obtains the camera ginseng
Number.
As an example, during precalculating camera parameter, it can use (7) formula, it is first determined some
Specific y_f, for formula (7), the equation left side is h, and only having H on the right of equation is variable, is equivalent to h=coefficient * H, can be false
If H obeys distribution p, it is therefore contemplated that h=coefficient * p, it is possible to obtain the distribution of h for the crowd in a period of time
And each rank statistic p1, each rank statistic p1 may include: the single order central moment, second-order moment around mean and three ranks for the h being calculated
Central moment etc.；On the other hand, it can directly obtain h's by actual observation in the video of (such as 1 hour) whithin a period of time
Each rank statistic p2, each rank statistic p2 may include: in the single order central moment, second-order moment around mean and three ranks for the h that observation obtains
Heart square etc..It finally, is each rank statistic of h to be measured by p1, p2 is each rank statistic for the h that actual observation obtains, so can
To enable p1=p2, solve to obtain camera parameter using numerical value calculating instrument.
The embodiment of the present invention can be applied in the video structural to Pedestrians and vehicles.So-called video structural, is exactly pressed
Sighting target standard in video target and event be described, and be stored in the process of database.Such as: bassinet structureization description: license plate,
Position, overall height, body color and vehicle type etc., people's structural description: height, face, dressing, gender etc..
The embodiment of the present invention passes through detects target pedestrian first in the image of video to be detected, then obtains target pedestrian
Location information of the frame in image coordinate system, finally can be true according to the location information of the target pedestrian frame and preset height
Determine function and determines that practical height in the alive boundary's coordinate system of the target pedestrian, the height determine that function is existed by homogeneous coordinates point
It is coordinately transformed between the world coordinate system and image coordinate system.
The embodiment of the present invention can only need to be using the location information of target pedestrian frame and preset when measuring pedestrian's height
Height determines that function can automatically determine the practical height of target pedestrian, easy to operate, determines work convenient for improving pedestrian's height
Efficiency.
In another embodiment of the present invention, as shown in figure 5, also providing a kind of pedestrian's height determining device, comprising: first
Detection module 11 obtains module 12 and determining module 13.
First detection module 11, for detecting target pedestrian in the image of video to be detected；
Module 12 is obtained, for obtaining location information of the target pedestrian's frame in image coordinate system；
Determining module 13, for determining that function determines institute according to the location information and preset height of the target pedestrian frame
The practical height in the alive boundary's coordinate system of target pedestrian is stated, the height determines function by homogeneous coordinates point in the world coordinates
It is coordinately transformed between system and image coordinate system.
The technical effect and preceding method embodiment phase of device provided by the embodiment of the present invention, realization principle and generation
Together, to briefly describe, Installation practice part does not refer to place, can refer to corresponding contents in preceding method embodiment.
Optionally it is determined that module 13 is also used to: obtaining the pixel coordinate of the target pedestrian frame；Obtain the phase precalculated
Machine parameter；Determine that function and the camera parameter determine the mesh based on the location information of the target pedestrian frame, the height
Mark practical height of the pedestrian in world coordinate system.
Optionally, the video to be detected is obtained by the imaging sensor with monocular camera lens.
Described device further include:
Second detection module, for detecting pedestrian in the image of the video to be detected；
Tracing module obtains the position letter of pedestrian's frame of multiple pedestrians for the motion profile for the pedestrian that trace detection arrives
Breath；
Numerical analysis module, the location information for pedestrian's frame to the multiple pedestrian carry out numerical analysis, obtain institute
State camera parameter.
Optionally, tracing module is also used to: selection meets preset condition in the motion profile of each pedestrian tracked
Multiple pedestrians motion profile；The multiple pedestrian is determined according to the motion profile of the multiple pedestrians for meeting preset condition
Pedestrian's frame location information.
Optionally, the camera parameter includes: the focal length and monocular of height of the camera in world coordinate system, monocular camera lens
Pitch angle of the camera lens after posture is fixed.
Optionally, the location information of the target pedestrian frame includes at least: the minimum ordinate and maximum of target pedestrian's frame
Ordinate.
Optionally, the height transfer function are as follows:
Wherein, c is height of the camera in world coordinate system, and f is the focal length of monocular camera lens, and θ is monocular camera lens in posture
Pitch angle after fixation, h are the coordinate difference between the minimum ordinate and maximum ordinate of target pedestrian frame, yfFor target pedestrian
The minimum ordinate of frame, H are practical height.
In another embodiment of the present invention, a kind of pedestrian's height is also provided and determines system, the system comprises: image passes
Sensor, processor and storage device；
Described image sensor has monocular cam, for acquiring video；
Computer program is stored on the storage device, the computer program is executed when being run by the processor
Method as described in preceding method embodiment.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
Specific work process, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In another embodiment of the present invention, a kind of non-volatile program code that can be performed with processor is also provided
Computer-readable medium, said program code make the processor execute the method as described in preceding method embodiment.
The flow chart and block diagram in the drawings show the system of multiple embodiments according to the present invention, method and computer journeys
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, section or code of table, a part of the module, section or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually base
Originally it is performed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that
It is the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, can uses and execute rule
The dedicated hardware based system of fixed function or movement is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
Pedestrian's height provided by the embodiment of the present invention determines the computer program product of method, apparatus and system, including
The computer readable storage medium of program code is stored, the instruction that said program code includes can be used for executing previous methods reality
Method described in example is applied, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of pedestrian's height determines method characterized by comprising
Target pedestrian is detected in the image of video to be detected；
Obtain location information of the target pedestrian frame in image coordinate system；
Determine that function determines that the alive boundary of the target pedestrian is sat according to the location information of the target pedestrian frame and preset height
Practical height in mark system, the height determine function by homogeneous coordinates point between the world coordinate system and image coordinate system
It is coordinately transformed, wherein the height determines that function is about the location information of the target pedestrian frame and described
The function of practical height；
The location information and preset height according to the target pedestrian frame determines that function determines that the target pedestrian is alive
The step of practical height in boundary's coordinate system, comprising:
Obtain the camera parameter precalculated；The camera parameter includes: height of the camera in world coordinate system, monocular camera lens
Pitch angle after posture is fixed of focal length and monocular camera lens；
Determine that function and the camera parameter determine the target line based on the location information of the target pedestrian frame, the height
Practical height of the people in world coordinate system.
2. pedestrian's height according to claim 1 determines method, which is characterized in that according to the position of the target pedestrian frame
Information and preset height determine that function determines the practical height in the alive boundary's coordinate system of the target pedestrian, further includes:
Obtain the pixel coordinate of the target pedestrian frame；
Determine that function and the camera parameter determine the target line based on the pixel coordinate of the target pedestrian frame, the height
Practical height of the people in world coordinate system.
3. pedestrian's height according to claim 2 determines method, which is characterized in that the video to be detected is single by having
What the imaging sensor of ocular head obtained.
4. pedestrian's height according to claim 3 determines method, which is characterized in that described to precalculate camera parameter packet
It includes:
Pedestrian is detected in the image of the video to be detected；
The motion profile for the pedestrian that trace detection arrives obtains the location information of pedestrian's frame of multiple pedestrians；
Numerical analysis is carried out to the location information of pedestrian's frame of the multiple pedestrian, obtains the camera parameter, the numerical value point
Analysis carries out the process of numerical analysis for each rank statistic to the location information.
5. pedestrian's height according to claim 4 determines method, which is characterized in that the movement rail for the pedestrian that trace detection arrives
Mark obtains the location information of pedestrian's frame of multiple pedestrians, comprising:
Selection meets the motion profile of multiple pedestrians of preset condition in the motion profile of each pedestrian tracked；
The position letter of pedestrian's frame of the multiple pedestrian is determined according to the motion profile of the multiple pedestrians for meeting preset condition
Breath.
6. pedestrian's height according to claim 5 determines method, which is characterized in that the location information of the target pedestrian frame
It includes at least: the minimum ordinate and maximum ordinate of target pedestrian's frame.
7. pedestrian's height according to claim 6 determines method, which is characterized in that the height transfer function are as follows:
Wherein, c is height of the camera in world coordinate system, and f is the focal length of monocular camera lens, and θ is that monocular camera lens is fixed in posture
Pitch angle afterwards, h are the coordinate difference between the minimum ordinate and maximum ordinate of target pedestrian frame, yfFor target pedestrian's frame
Minimum ordinate, H are practical height.
8. a kind of pedestrian's height determining device characterized by comprising
First detection module, for detecting target pedestrian in the image of video to be detected；
Module is obtained, for obtaining location information of the target pedestrian's frame in image coordinate system；
Determining module, for determining that function determines the target according to the location information and preset height of the target pedestrian frame
Practical height of the pedestrian in world coordinate system, the height determine function by homogeneous coordinates point in the world coordinate system and figure
As being coordinately transformed to obtain between coordinate system, wherein the height determines that function is the position about the target pedestrian frame
The function of confidence breath and the practical height；
The determining module is also used to: obtaining the camera parameter precalculated；The camera parameter includes: camera in world coordinates
Pitch angle of the focal length and monocular camera lens of height, monocular camera lens in system after posture is fixed；Based on the target pedestrian frame
Location information, the height determine that function and the camera parameter determine the practical body in the alive boundary's coordinate system of the target pedestrian
It is high.
9. a kind of pedestrian's height determines system, which is characterized in that the system comprises: imaging sensor, processor and storage dress
It sets；
Described image sensor has monocular cam, for acquiring video；
Computer program is stored on the storage device, the computer program is executed when being run by the processor as weighed
Benefit requires 1 to 7 described in any item methods.
10. a kind of computer-readable medium for the non-volatile program code that can be performed with processor, which is characterized in that described
Program code makes the processor execute the method as claimed in claim 1 to 7.
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| CN109146969B (en) * | 2018-08-01 | 2021-01-26 | 北京旷视科技有限公司 | Pedestrian positioning method, device and processing equipment and storage medium thereof |
| CN111095024A (en) * | 2018-09-18 | 2020-05-01 | 深圳市大疆创新科技有限公司 | Height determination method, height determination device, electronic equipment and computer-readable storage medium |
| CN110969898A (en) * | 2018-09-28 | 2020-04-07 | 杭州海康威视系统技术有限公司 | Ship height detection method, device and system |
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| CN112613422B (en) * | 2020-12-26 | 2024-07-05 | 上海有个机器人有限公司 | Pedestrian space position estimation method and device based on weighted fusion and robot |
| CN113643368A (en) * | 2021-08-03 | 2021-11-12 | 嘉洋智慧安全生产科技发展（北京）有限公司 | Method and device for determining real distance between objects and electronic equipment |
| CN113627343A (en) * | 2021-08-11 | 2021-11-09 | 深圳市捷顺科技实业股份有限公司 | Pedestrian height detection method, device and equipment and readable storage medium |
| CN113749646A (en) * | 2021-09-03 | 2021-12-07 | 中科视语(北京)科技有限公司 | Monocular vision-based human body height measuring method and device and electronic equipment |
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