CN108051777A - Method for tracing, device and the electronic equipment of target - Google Patents
Method for tracing, device and the electronic equipment of target Download PDFInfo
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- CN108051777A CN108051777A CN201711247108.0A CN201711247108A CN108051777A CN 108051777 A CN108051777 A CN 108051777A CN 201711247108 A CN201711247108 A CN 201711247108A CN 108051777 A CN108051777 A CN 108051777A
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- target object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Image Analysis (AREA)
Abstract
The present invention provides a kind of method for tracing of target, device and electronic equipment, it is related to the technical field of intelligent recognition, this method includes：Obtain the range information obtained when multiple range sensors detect target object in search coverage；Obtain installation site of each range sensor in search coverage；Each target object is tracked with reference to range information and installation site, to determine motion track of each target object in search coverage, the present invention is alleviated the technical issues of can not carrying out unaware tracking to the target in search coverage in the prior art.
Description
Technical field
The present invention relates to the technical field of intelligent recognition, more particularly, to a kind of method for tracing of target, device and electronics
Equipment.
Background technology
With the fast development of big data analysis technology, big data analysis has been applied to every field, for example, shop etc.
In solid shop/brick and mortar store.The entities shopping place such as traditional supermarket, convenience store, market is carrying out big data point to the buying behavior of customer
It during analysis, is only capable of by customer when silver-colored platform is settled accounts, the types of the commodity bought by customer is analyzed.As tracking is fixed
The development of position technology, can also determine the motion track of customer by existing tracing and positioning mode.
Existing tracing and positioning mode requires the bluetooth of the mobile equipment of client or WiFi to keep always on state, therefore
Limit its use.In addition, existing tracing and positioning mode can be since signal strength be by direction, human body or the interior of mobile equipment
Blocking for object causes to track the precision that precision is unable to reach anticipation.And existing tracing and positioning mode needs customer actively to match somebody with somebody
It closes, opens the special APP of mobile device end, and keep front camera unobstructed upward always.This undoubtedly brings to customer
Trouble, influence can customer experience.
In view of the above-mentioned problems, do not propose effective solution also.
The content of the invention
In view of this, it is an object of the invention to provide a kind of method for tracing of target, device and electronic equipment, to alleviate
The technical issues of unaware tracking can not being carried out to the target in search coverage in the prior art.
In a first aspect, an embodiment of the present invention provides a kind of method for tracing of target, including：Obtain multiple range sensors
The range information obtained when being detected in search coverage to target object；Each range sensor is obtained in the detecting area
The installation site in domain；Each target object is tracked with reference to the range information and the installation site, it is each to determine
Motion track of the target object in the search coverage.
Further, each target object is tracked with reference to the range information and the installation site, to determine
Motion track of each target object in the search coverage includes：Started with starting distance sensor, described more
One or more continuous target range sensor is determined in a range sensor, and with reference to the target range sensor
Installation site draws the motion track of the target object；Wherein, the starting distance sensor enters for the target object
To the first sensor triggered during the search coverage in the multiple range sensor, the target range sensor is company
The continuous range sensor for detecting same target object.
Further, the method further includes：Obtain the attributive character of the target object；According to the attributive character
Time and the start trigger time of the motion track are obtained, establishes the association between the attributive character and the motion track
Relation obtains associated data；Wherein, the associated data includes the attributive character and motion track of same target object, institute
State the triggering moment corresponding to the starting point that the start trigger time is the motion track.
Further, obtaining the attributive character of the target object includes：It is described to obtain including for image acquisition device acquisition
The image information of target object, wherein, when described image information enters for the target object or walks out the search coverage
The image of acquisition, described image information include the figure and features information of the target object and/or clothing information；Described image is believed
Breath carries out attributive analysis, obtains the attributive character of the target object.
Further, multiple target objects that described image information includes while occurs, according to the attributive character
Time and the start trigger time of the motion track are obtained, establishes the association between the attributive character and the motion track
Relation, obtaining associated data includes：Obtain the location information for multiple target objects that described image information includes；According to each
The location information of the target object, the acquisition time of attributive character of each target object and rising for the motion track
Begin the triggered time, establish the incidence relation between the attributive character of the target object and the motion track.
Further, the method further includes：Obtain the attributive character of the motion track；With reference to the motion track
Attributive character and/or the attributive character of the target object analyze the associated data, obtain belonging each attribute
The motion track distribution map of feature.
Further, the method further includes：Determine label information, wherein, the label information is for each shifting
The information that dynamic rail mark distinguishes；The label information and the motion track are bound.
Further, label information is determined by following any method：The label is determined using face characteristic information
Information, wherein, a face characteristic information corresponds to a label information；It is determined using the generated time of the motion track described
Label information；The label information is determined using the motion track.
Further, the method further includes：The motion track of the belonging different label informations is subjected to data point
Analysis, to obtain the motion track distribution map of each label information.
Further, the multiple range sensor is mounted on the top of the search coverage in the form of sensor array
End, wherein, the quantity of the sensor array is one or more.
Second aspect, the embodiment of the present invention additionally provide a kind of follow-up mechanism of target, including：First acquisition unit is used
The range information obtained when obtaining multiple range sensors and being detected in search coverage to target object；Second obtains list
Member, for obtaining installation site of each range sensor in the search coverage；Trajectory track unit, for reference to it is described away from
Each target object is tracked from information and the installation site, to determine each target object in the detecting area
Motion track in domain.
The third aspect, the embodiment of the present invention additionally provide a kind of electronic equipment, including memory, processor and are stored in institute
The computer program that can be run on memory and on the processor is stated, the processor performs real during the computer program
Existing method described above.
Fourth aspect, the embodiment of the present invention additionally provide a kind of non-volatile program code that can perform with processor
Computer-readable medium, said program code make the processor perform method described above.
In embodiments of the present invention, multiple range sensors are obtained first to detect target object in search coverage
When obtained range information；Then installation site of each range sensor in search coverage is obtained；Finally combine range information
Each target object is tracked with installation site, to determine moving rail of each target object in the search coverage
Mark.In embodiments of the present invention, in a manner that range sensor gathers range information, target object can be carried out accurate
Unaware position and trajectory track, and then alleviate in the prior art can not to the target in search coverage carry out unaware tracking
The technical issues of, it is achieved thereby that carrying out the technique effect of unaware tracking to the target object in search coverage.
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 being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in attached drawing.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing 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, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the schematic diagram of a kind of electronic equipment according to embodiments of the present invention；
Fig. 2 is a kind of flow chart of the method for tracing of target according to embodiments of the present invention；
Fig. 3 is a kind of scheme of installation of sensor array according to embodiments of the present invention；
Fig. 4 be a kind of combination range information according to embodiments of the present invention and the installation site to each target object into
Row tracking, to determine the flow chart of motion track of each target object in search coverage；
Fig. 5 is a kind of schematic diagram of the follow-up mechanism of target according to embodiments of the present invention.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiment be part of the embodiment 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
Lower all other embodiments obtained, belong to the scope of protection of the invention.
Embodiment one：
First, describe to be used to implement the exemplary electronic device of the method for tracing of the target of the embodiment of the present invention with reference to Fig. 1
100。
As shown in Figure 1, electronic equipment 100 includes one or more processors 102, one or more storage device 104, defeated
Enter device 106, output device 108 and range sensor 110, these components pass through bus system 112 and/or other forms
Bindiny mechanism's (not shown) interconnection.It should be noted that the component and structure of electronic equipment 100 shown in FIG. 1 are only exemplary, and
Nonrestrictive, as needed, the electronic equipment can also have other assemblies and structure.
The processor 102 can be central processing unit (CPU) or be performed with data-handling capacity and/or instruction
The processing unit of the other forms of ability, and other components in the electronic equipment 100 can be controlled desired to perform
Function.
The storage device 104 can 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 and/or nonvolatile memory.It is described easy
The property lost memory is such as can include random access memory (RAM) and/or cache memory (cache).It is described non-
Volatile memory is such as can include read-only memory (ROM), hard disk, flash memory.In the computer readable storage medium
On can store one or more computer program instructions, processor 102 can run described program instruction, to realize hereafter institute
The client functionality (realized in the embodiment of the present invention stated by processor) and/or other 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
Various data generated etc..
The input unit 106 can be the device that user is used for input instruction, and can include keyboard, mouse, wheat
One or more of gram wind and touch-screen etc..
The output device 108 can export various information (for example, image or sound) to external (for example, user), and
And one or more of display, loud speaker etc. can be included.
The range sensor 110 can gather range information, and the range information of acquisition is stored in the storage
So that other components use in device 104.
Illustratively, the exemplary electronic device for being used to implement the method for tracing of target according to embodiments of the present invention can be by
It is embodied as on the mobile terminals such as smart mobile phone, tablet computer.
Embodiment two：
According to embodiments of the present invention, a kind of embodiment of the method for tracing of target is provided, it is necessary to illustrate, in attached drawing
Flow the step of illustrating can be performed in the computer system of such as a group of computer-executable instructions, although also,
Show logical order in flow charts, but in some cases, can be performed with the order being different from herein it is shown or
The step of description.
Fig. 2 is a kind of flow chart of the method for tracing of target according to embodiments of the present invention, as shown in Fig. 2, this method bag
Include following steps：
Step S202 obtains the distance obtained when multiple range sensors detect target object in search coverage
Information；
In embodiments of the present invention, search coverage can be a shop, the places such as a market or food plaza.
Target object is the people entered in search coverage, for example, entering the customer in shop, enters the customer in market.
It should be noted that in embodiments of the present invention, it is people that target object, which does not limit, can be in search coverage
Mobile arbitrary objects can specifically be determined according to the actual needs of user.
Step S204 obtains installation site of each range sensor in the search coverage；
In embodiments of the present invention, which is expressed as coordinate information of the range sensor in search coverage.When
When range sensor detection has the target object to pass through, the range information detected will change.For example, when some Distance-sensing
When the range information that device detects becomes 1 meter from 2.5 meters, show that the range sensor has detected target object process.
Step S206 is tracked each target object with reference to the range information and the installation site, to determine
Motion track of each target object in the search coverage；
In embodiments of the present invention, the range information of range sensor output and the installation position of each range sensor are passed through
Can just target object be tracked by putting, to determine motion track of each target object in search coverage.It is retouched by above-mentioned
It states and understands, during being tracked to target object, whole process is unaware, and any terminal is opened without target object
Equipment, it becomes possible to realize the tracking of motion track.
In embodiments of the present invention, can above-mentioned steps S202 be performed to step S206 by processor.Wherein, handle
Device can be the processor mounted on search coverage, can also be cloud processor.When processor is mounted on search coverage
During processor, which will obtain the range information collected by range sensor, then, mesh be generated based on range information
The motion track of object is marked, wherein, at this point, processor and range sensor can wired or wireless connections.When processor is
During cloud processor, range sensor will by LAN by distance information transmission into cloud processor so that high in the clouds handle
Motion track of the device based on range information generation target object.
It should be noted that in addition to above two processor, processing of the step S202 to step S206 is able to carry out
Device can be applied in embodiments of the present invention, this is not especially limited.
In embodiments of the present invention, multiple range sensors are obtained first to detect target object in search coverage
When obtained range information；Then installation site of each range sensor in search coverage is obtained；Finally combine range information
Each target object is tracked with installation site, to determine moving rail of each target object in the search coverage
Mark.In embodiments of the present invention, in a manner that range sensor gathers range information, target object can be carried out accurate
Unaware position and trajectory track, and then alleviate in the prior art can not to the target in search coverage carry out unaware tracking
The technical issues of, it is achieved thereby that carrying out the technique effect of unaware tracking to the target object in search coverage.
In embodiments of the present invention, multiple range sensors are mounted on the search coverage in the form of sensor array
Top, wherein, the quantity of sensor array is one or more.
Wherein, the single range sensor in above-mentioned multiple range sensors includes but not limited to ToF, ultrasonic wave, infrared
The sensor of the technologies such as photoswitch and microwave.In addition, multiple range sensors can also be chosen for laser radar, can be with
The laser radar of low line number is chosen for, for example, the laser radar of 1-8 lines, to realize the track following of people.
It should be noted that when technologies such as single range sensor selected as ToF, ultrasonic wave, infrared photoswitch and microwaves
Sensor when, multiple range sensors in the form of sensor array be mounted on the search coverage top, that is, passing through
Sensor array is mounted in search coverage by the mode of installation of ceiling.
As shown in figure 3, by way of installation of ceiling, a sensor array 2 is installed between two rows of shelf 1.Due to
Each range sensor in sensor array has corresponding investigative range and detection accuracy, therefore, when the face of search coverage
When product has been more than the investigative range of sensor array, it can be installed by way of installation of ceiling on the top of search coverage more
Sensor array.Specific mounting means can be to install a plurality of sensor array on the top of search coverage at equal intervals.
For example, as shown in figure 3, a sensor array is installed on the top between the adjacent shelf of any two (that is, in corridor).
In addition to equidistant mounting means, can also a plurality of sensor array be installed using non-equidistant mounting means.
It should be noted that in embodiments of the present invention, a plurality of sensor array can be parallel installation when mounted,
It can also be not parallel mounting means.Can be the mounting means to intersect vertically in not parallel mounting means, it can be with
It is the mounting means that out of plumb intersects, can also be the disjoint mounting means of out of plumb.In embodiments of the present invention, for more
The mounting means of sensor array is not specifically limited, and user can be according to the physical channel width in search coverage and required
The data precision asked sets the mounting means of the quantity of a plurality of sensor array and a plurality of sensor array.
By the way that sensor array to be mounted on to the top of search coverage, can by sensor array to it is following it is real-time into
Row distance detects, if there is pedestrian's (that is, target object) occurs, it can be determined that the object with certain Metacentre Height in position
Upper constantly variation, the variation of the position of target object can change to obtain by the reading of different distance sensor.In this way, it is
Unite it is distinguishable go out one by one the independent shape (that is, target object) with certain altitude moved under sensor array, by
This can carry out track following to target object, so as to obtain the motion track of target object.
In embodiments of the present invention, after being installed to multiple range sensors, it is possible to be passed by multiple distances
Sensor detects the target object in search coverage, obtains range information.Then, the installation based on each range sensor
Position and range information are tracked each target object, to determine moving rail of each target object in search coverage
Mark.
In an optional embodiment, as shown in figure 4, step S206, with reference to the range information and the installation
Position is tracked each target object, to determine motion track bag of each target object in the search coverage
Include following steps：
Step S2061 is started with starting distance sensor, one or more is determined in the multiple range sensor
Continuous target range sensor, and the movement of the installation site drafting target object with reference to the target range sensor
Track；
Wherein, when the starting distance sensor enters the search coverage for the target object it is the multiple away from
From the first sensor triggered in sensor, the target range sensor passes for the distance of continuous probe to same target object
Sensor.
In embodiments of the present invention, when target object enters search coverage, mounted on some of search coverage entrance
Or multiple range sensors (that is, starting distance sensor) will be detected with target object and enter in search coverage, at this point,
This some or multiple range sensors will export the range information obtained when being detected to target object.It next, can
Using some or multiple range sensors using this as starting point, one or more target for being consecutively detected target object is determined
Range sensor, wherein, which is continuous sensor, and one or more mesh
Subject distance sensor is range sensor of the continuous probe to same target object.Determining one or more target range
After sensor, it is possible to which combining target range sensor draws the moving rail of target object in the installation site of search coverage
Mark.
For example, when certain target object A enters search coverage, the range sensor B positioned at search coverage inlet will be examined
Target object A is measured, wherein, range sensor B is starting distance sensor.At this point, range sensor B will export one away from
From information.If range sensor B is 2.5 meters apart from the distance between ground, the height of target object A is 1.8 meters, then away from
Location information from sensor B outputs is 0.7 meter.At this point, will be started with range sensor B, determined in sensor array
Continuous output range information is 0.7 meter of range sensor as target range sensor.Then, sensed based on the target range
Device draws the motion track of target object in the installation site of search coverage.
In embodiments of the present invention, in a manner that range sensor gathers range information, target object can be carried out
Accurate unaware positioning and trajectory track, so alleviate the target in search coverage can not be carried out in the prior art it is noninductive
The technical issues of knowing tracking, it is achieved thereby that carrying out the technique effect of unaware tracking to the target object in search coverage.
But track following most importantly knows the track of specific crowd, i.e. different attribute (gender, age for retail
Deng) track of the crowd in shop what kind of is.So still needing to combine machine vision, the attributive character of target object is established
Incidence relation between the motion track of target object.
In embodiments of the present invention, when the motion track to each target object is tracked, it is also necessary to usage time
The motion track of the attributive character of target object and the target object is carried out data correlation by the mode of axis synchronization.
In an optional embodiment, it can realize that the attribute for establishing target object is special by process described below
Incidence relation between sign and the motion track of target object：
First, the attributive character of the target object is obtained；
Wherein, obtaining the attributive character of the target object includes：Obtain image acquisition device acquisition includes the target
The image information of object, wherein, described image information enters for the target object or is gathered when walking out the search coverage
Image, described image information include the target object figure and features information and/or clothing information；To described image information into
Row attributive analysis obtains the attributive character of the target object.
Then, the start trigger time for obtaining time and the motion track according to the attributive character, described in foundation
Incidence relation between attributive character and the motion track, obtains associated data；Wherein, the associated data includes same
The attributive character and motion track of target object, the start trigger time are the triggering corresponding to the starting point of the motion track
Moment.
If it should be noted that target object behave, then figure and features information can be face information, hair style information, body
The information such as type information, figure and gait；It can be clothing information to wear information clothes, for example, the relevant information of clothes and cap
Relevant information, such as, if it is branded as, what is worn is what kind of cap etc.；Above-mentioned attributive character include gender, the age,
Height, ethnic (white people, yellow and black race), the information such as hair style and clothing.
In embodiments of the present invention, when a target object enters search coverage or in the target object tracked
When walking out the search coverage, image collecting device (for example, RGB camera with face identification functions) can be used to each entrance
Or walk out the image information of the target object of search coverage and be acquired, pass through foregoing description, the image collected letter
Breath includes the figure and features information of target object and/or clothing information.At this point, it can be believed according to the figure and features information and/or clothing
Breath carries out attributive analysis, to determine the attributive character of target object, wherein, attributive analysis includes point of face, human body etc.
Analysis, the attributive character analyzed include gender, age, height, ethnic (white people, yellow and black race), hair style and clothing
The information such as.
After analysis obtains attributive character, it is possible to which the mode of usage time axis synchronization is by the attributive character and sensing of people
The motion track of device array identification carries out data correlation, obtains associated data.For example, the T0 moment will be based on, (that is, above-mentioned starting will be adopted
The collection moment) RGB camera captures the attributive character obtained to image information analysis and passed with the T0 moment (that is, above-mentioned start trigger moment)
The location information of sensor array is combined, to establish the related information between attributive character and motion track.It is closed establishing association
After system, associated data is generated.
In embodiments of the present invention, the shooting angle of RGB camera can be suitably adjusted, a shooting model can be set
It encloses, only identifies the face in coverage, the face of distant place can be filtered with face size threshold value；For in coverage
The multiple faces laterally occurred can extract the location information of face, according to the difference of location information, by face and T0 moment
The location information that sensor array obtains is combined, to distinguish different people.At the time of follow-up, different people is carried out respectively
Track following.
It should be noted that the attributive analysis of people can carry out when into the search coverage, the spy can also walked out
It is carried out when surveying region, due to there was only a face alignment camera when walking out the search coverage, data are more accurate；According to acquisition
Face or human body RGB image, into the attributive analysis of pedestrian, including gender, age, height, hair style, clothing etc., by the category of people
Property feature is associated with subsequent trace information.
When the attributive character of target object and its motion track are carried out data correlation, the category of target object can be obtained
Property feature the acquisition time and obtain motion track the start trigger time.Wherein, the time is obtained as image collecting device bat
Take the photograph the time that the target object enters search coverage.If the two times are identical, by the attribute with same time
Feature and motion track carry out data correlation.
For example, certain object A in the afternoon 13：00 enters convenience store.At this point, image collecting device 1 will be 13:00 point.This
When, range sensor B also will be 13:00 point (being the start trigger time) is detected object A and is entered in search coverage.
Range sensor B detects object A and enters after search coverage, and the distance detected based on each range sensor is believed
The installation site of breath and each range sensor tracks the motion track of object A, and draws the motion track of object A.
When establishing the data correlation relation between the attributive character of the target object and the motion track of the target object, based on object A
Into the time (that is, 13 in shop:00 point) and the object A start trigger times (that is, 13:00 point) establish above-mentioned incidence relation.It needs
It is noted that it is not requirement strict conformance to obtain time and start trigger time, there may be certain error, the error
Value can be set according to actual conditions, this is not especially limited.
When multiple customers enter shop simultaneously, in described image information will simultaneously occur multiple target objects,
In this case, obtaining time and the start trigger time of the motion track according to the attributive character, the attribute is established
Incidence relation between feature and the motion track obtains associated data and includes the following steps：
First, the location information for multiple target objects that described image information includes is obtained；
Then, the location information according to each target object, each target object attributive character acquisition
It time and the start trigger time of the motion track, establishes between the attributive character of the target object and the motion track
Incidence relation.
If two customers enter certain shop simultaneously, image collecting device will collect while comprising two customers
Image information.At this point, the position relationship of two customers in the image information can be transferred to sensor by image collecting device
The gateway device of array, so that location information of the sensor array according to each customer, the attributive character of each customer and each
The start trigger time of the motion track of customer, establish the incidence relation between the attributive character of each customer and motion track.
Specifically, during when image acquisition device to the image information comprising two customers, will go out in sensor array
Existing range sensor detects above-mentioned two customer respectively, and exports corresponding range information.At this point it is possible to it is based on detecting
State the location information of the range sensor of two customers and the location information of two customers establish two customers attributive character and
Incidence relation between corresponding motion track.
In embodiments of the present invention, after the attributive character of target object and motion track are associated, can incite somebody to action
Associated data is classified, and specifically can realize classification by following processes：
First, the attributive character of the motion track is obtained；
Then, with reference to the attributive character of the motion track and/or the attributive character of the target object to the association
Data are analyzed, and obtain the motion track distribution map of belonging each attributive character.
In embodiments of the present invention, after motion track is generated, generated time and the shifting of motion track are also based on
Dynamic rail mark itself generates the attributive character of motion track.It afterwards, can be according to the attributive character and/or motion track of target object
Attributive character classify to associated data.For example, classify according to the generated time of motion track to associated data, with
It determines in each period, the motion track of target object and the quantity of target object.It in another example can also be according to target object
Attributive character classify, associated data of the age at 20-35 Sui is divided into one group, by incidence number of the age at 55 years old or more
According to being divided into one group, to determine the buying behavior of the customer of different age group.In another example when can be combined with the generation of motion track
Between and age of target object motion track is grouped.Specific packet mode in embodiments of the present invention, is not made specific
It limits.
In embodiments of the present invention, by analyzing associated data, the moving rail of each label information can be obtained
Mark distribution map.Above-mentioned data analysis includes the heating power map analysis of track, the trajectory analysis of male or female, the rail of years old
Mark analysis etc..If search coverage is the regions such as shop, then the result of above-mentioned big data analysis can be used for shopping guide, commodity
Placement position planning etc..
In embodiments of the present invention, after motion track is generated, it is also necessary to each motion track be distinguished, specifically
Ground can distinguish each motion track by following manner：
First, label information is determined, wherein, the label information is the letter for being distinguished to each motion track
Breath；Wherein, label information is determined by following any method：The label information is determined using face characteristic information, wherein,
One face characteristic information corresponds to a label information；The label information is determined using the generated time of the motion track；
The label information is determined using the motion track；
Then, the label information and the motion track are bound.
In embodiments of the present invention, the track recorded all includes the label information (that is, ID) of itself, for rail
Differentiation between mark.At this point it is possible to by the use of face characteristic information as the label for the track for distinguishing different people and people, at this point, not having to
Bottom storehouse is registered, but the face character feature detected using image detection device generates a unique label information
(that is, ID)；In addition, the time and motion track that can also be generated with motion track generate a label information in itself
(that is, ID).The purpose of label information is to distinguish different track datas.
In embodiments of the present invention, it can capture to capture in camera from above-mentioned RGB and obtain in image information, analyze target pair
The facial information of elephant obtains the face characteristic information of target object, wherein, face characteristic information includes the characteristic information of eyes,
The characteristic information of face, characteristic information of nose etc., for example, the characteristic point of eyes, face and nose and its position.By upper
It states description to understand, can be that numerous motion tracks distinguishes by determining label information for motion track.
It should be noted that after label information is determined for each motion track, can also establish the motion track with
Incidence relation between the attributive character of target object, so as to fulfill the big data analysis to motion track and processing.
In embodiments of the present invention, since the data of range sensor output will not be done completely be subject to signal communication quality
It disturbs, will not be disturbed be subject to background color, light intensity in image information.It so only needs by pacifying in search coverage furred ceiling
Fill multiple range sensors, it becomes possible to target object be positioned and tracked.Compared with traditional method for tracing, the present invention is implemented
The method that example provides greatly reduces requirement to algorithm and computing capability, and improves data precision so that it is low into
This track following is possibly realized.
Embodiment three：
The embodiment of the present invention additionally provides a kind of follow-up mechanism of target, and the follow-up mechanism of the target is mainly used for performing sheet
The method for tracing for the target that inventive embodiments the above is provided below fills the tracking of target provided in an embodiment of the present invention
It puts and does specific introduction.
Fig. 5 is a kind of schematic diagram of the follow-up mechanism of target according to embodiments of the present invention, as shown in figure 5, the target
Follow-up mechanism mainly includes first acquisition unit 10, second acquisition unit 20 and trajectory track unit 30, wherein：
First acquisition unit 10, when being detected for obtaining multiple range sensors in search coverage to target object
Obtained range information；
Second acquisition unit 20, for obtaining installation site of each range sensor in the search coverage；
Trajectory track unit 30, for being chased after with reference to the range information and the installation site to each target object
Track, to determine motion track of each target object in the search coverage.
In embodiments of the present invention, multiple range sensors are obtained first to detect target object in search coverage
When obtained range information；Then installation site of each range sensor in search coverage is obtained；Finally combine range information
Each target object is tracked with installation site, to determine moving rail of each target object in the search coverage
Mark.In embodiments of the present invention, in a manner that range sensor gathers range information, target object can be carried out accurate
Unaware position and trajectory track, and then alleviate in the prior art can not to the target in search coverage carry out unaware tracking
The technical issues of, it is achieved thereby that carrying out the technique effect of unaware tracking to the target object in search coverage.
Optionally, the multiple range sensor is mounted on the top of the search coverage in the form of sensor array,
Wherein, the quantity of the sensor array is one or more.
Optionally, trajectory track unit 30 is used for：Started with starting distance sensor, in the multiple range sensor
It determines one or more continuous target range sensor, and institute is drawn with reference to the installation site of the target range sensor
State the motion track of target object；Wherein, the starting distance sensor enters the search coverage for the target object
When the first sensor that is triggered in the multiple range sensor, the target range sensor is continuous probe to same mesh
Mark the range sensor of object.
Optionally, which further includes：3rd acquiring unit, for obtaining the attributive character of the target object；It establishes
Unit for obtaining time and the start trigger time of the motion track according to the attributive character, establishes the attribute
Incidence relation between feature and the motion track, obtains associated data；Wherein, the associated data includes same target
The attributive character and motion track of object, when the start trigger time is the triggering corresponding to the starting point of the motion track
It carves.
Optionally, the 3rd acquiring unit is used for：Obtain the letter of the image comprising the target object of image acquisition device acquisition
Breath, wherein, described image information for the target object enters or walks out the image gathered during the search coverage, the figure
As information includes the figure and features information of the target object and/or clothing information；Attributive analysis is carried out to described image information, is obtained
To the attributive character of the target object.
Optionally, unit is established to be additionally operable to：In the feelings for multiple target objects that described image information includes while occurs
Under condition, the location information for multiple target objects that described image information includes is obtained；Position according to each target object
It confidence breath, the acquisition time of attributive character of each target object and the start trigger time of the motion track, establishes
Incidence relation between the attributive character of the target object and the motion track.
Optionally, which is additionally operable to：Obtain the attributive character of the motion track；With reference to the attribute of the motion track
Feature and/or the attributive character of the target object analyze the associated data, obtain belonging each attributive character
Motion track distribution map.
Optionally, which is additionally operable to：Determine label information, wherein, the label information is for each moving rail
The information that mark distinguishes；The label information and the motion track are bound.
Optionally, label information is determined by following any method：Determine that the label is believed using face characteristic information
Breath, wherein, a face characteristic information corresponds to a label information；The mark is determined using the generated time of the motion track
Sign information；The label information is determined using the motion track.
The technique effect of the device that the embodiment of the present invention is provided, realization principle and generation and preceding method embodiment phase
Together, to briefly describe, device embodiment part does not refer to part, can refer to corresponding contents in preceding method embodiment.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Convenient for the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for description purpose, and it is not intended that instruction or hint relative importance.
The computer program production of the method for tracing of target that the embodiment of the present invention is provided a kind of, device and electronic equipment
Product, the computer readable storage medium for the non-volatile program code that can perform including storing processor, said program code
Including instruction can be used for perform previous methods embodiment described in method, specific implementation can be found in embodiment of the method, herein
It repeats no more.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit may be referred to the corresponding process in preceding method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of division of logic function, can there is other dividing mode in actual implementation, in another example, multiple units or component can
To combine or be desirably integrated into another system or some features can be ignored or does not perform.It is another, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be by some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical location, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That unit is individually physically present, can also two or more units integrate in a unit.
If the function is realized in the form of SFU software functional unit and is independent production marketing or in use, can be with
It is stored in the non-volatile computer read/write memory medium that a processor can perform.Based on such understanding, the present invention
The part that substantially contributes in other words to the prior art of technical solution or the part of the technical solution can be with software
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) performs each embodiment institute of the present invention
State all or part of step of method.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with
Store the medium of program code.
Finally it should be noted that：Embodiment described above is only the specific embodiment of the present invention, to illustrate the present invention
Technical solution, rather than its limitations, protection scope 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, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent substitution is carried out to which part technical characteristic；And these modifications, variation or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be subject to the protection scope in claims.
Claims (12)
1. a kind of method for tracing of target, which is characterized in that including：
Obtain the range information obtained when multiple range sensors detect target object in search coverage；
Obtain installation site of each range sensor in the search coverage；
Each target object is tracked with reference to the range information and the installation site, to determine each target pair
As the motion track in the search coverage.
2. according to the method described in claim 1, it is characterized in that, with reference to the range information and the installation site to each
Target object is tracked, to determine that motion track of each target object in the search coverage includes：
Started with starting distance sensor, one or more continuous target range is determined in the multiple range sensor
Sensor, and the motion track of the installation site drafting target object with reference to the target range sensor；
Wherein, passed when the starting distance sensor enters the search coverage for the target object in the multiple distance
The first sensor triggered in sensor, the target range sensor are Distance-sensing of the continuous probe to same target object
Device.
3. method according to claim 1 or 2, which is characterized in that the method further includes：
Obtain the attributive character of the target object；
According to the start trigger time for obtaining time and the motion track of the attributive character, establish the attributive character and
Incidence relation between the motion track, obtains associated data；
Wherein, the associated data includes the attributive character and motion track of same target object, the start trigger time
For the triggering moment corresponding to the starting point of the motion track.
4. according to the method described in claim 3, it is characterized in that, obtaining the attributive character of the target object includes：
The image information for including the target object of image acquisition device acquisition is obtained, wherein, described image information is the mesh
Mark object enters or walks out the image gathered during the search coverage, and described image information includes the body of the target object
Looks information and/or clothing information；
Attributive analysis is carried out to described image information, obtains the attributive character of the target object.
5. according to the method described in claim 4, it is characterized in that, multiple targets that described image information includes while occurs
Object obtains time and the start trigger time of the motion track according to the attributive character, establishes the attributive character
Incidence relation between the motion track, obtaining associated data includes：
Obtain the location information for multiple target objects that described image information includes；
Location information according to each target object, acquisition time of attributive character of each target object and described
The start trigger time of motion track, the association established between the attributive character of the target object and the motion track are closed
System.
6. according to the method described in claim 3, it is characterized in that, the method further includes：
Obtain the attributive character of the motion track；
The associated data is divided with reference to the attributive character of the motion track and/or the attributive character of the target object
Analysis obtains the motion track distribution map of belonging each attributive character.
7. according to the method described in claim 1, it is characterized in that, the method further includes：
Determine label information, wherein, the label information is the information for being distinguished to each motion track；
The label information and the motion track are bound.
8. the method according to the description of claim 7 is characterized in that label information is determined by following any method：
The label information is determined using face characteristic information, wherein, a face characteristic information corresponds to a label information；
The label information is determined using the generated time of the motion track；
The label information is determined using the motion track.
9. according to the method described in claim 1, it is characterized in that, the multiple range sensor is in the form of sensor array
Mounted on the top of the search coverage, wherein, the quantity of the sensor array is one or more.
10. a kind of follow-up mechanism of target, which is characterized in that including：
First acquisition unit, for obtaining what is obtained when multiple range sensors detect target object in search coverage
Range information；
Second acquisition unit, for obtaining installation site of each range sensor in the search coverage；
Trajectory track unit, for being tracked with reference to the range information and the installation site to each target object, with
Determine motion track of each target object in the search coverage.
11. a kind of electronic equipment, including memory, processor and it is stored on the memory and can transports on the processor
Capable computer program, which is characterized in that the processor realizes the claims 1 to 9 when performing the computer program
Any one of method.
12. a kind of computer-readable medium for the non-volatile program code that can perform with processor, which is characterized in that described
Program code makes the processor perform any the method in the claim 1-9.
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