CN108363985A - Target object sensory perceptual system test method, device and computer readable storage medium - Google Patents
Target object sensory perceptual system test method, device and computer readable storage medium Download PDFInfo
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- CN108363985A CN108363985A CN201810182029.4A CN201810182029A CN108363985A CN 108363985 A CN108363985 A CN 108363985A CN 201810182029 A CN201810182029 A CN 201810182029A CN 108363985 A CN108363985 A CN 108363985A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention discloses a kind of target object sensory perceptual system test method, device and computer readable storage medium, this method to include：The monitoring data of preset sensor acquisition are obtained, the preset sensor is equipped in mobile device；The monitoring picture for exporting the monitoring data, when monitoring in picture there are when target object, according to the monitoring data, obtain the target object type information and the target object with the mobile device relative position information；Show the type information and the relative position information.Through the invention, what it is due to sensor acquisition is monitoring data in practical application scene, after the completion of being tested target object sensory perceptual system based on the monitoring data, before target object sensory perceptual system is deployed in actual use scene, it no longer needs to modify to target object sensory perceptual system, saves time cost, R＆D costs, human cost and financial cost.
Description
Technical field
The present invention relates to sensory perceptual system technical field of measurement and test more particularly to target object sensory perceptual system test method, devices
And computer readable storage medium.
Background technology
In recent years, oneself hot spot and auto industry through becoming the research of world's Vehicle Engineering of intelligent vehicle increase new dynamic
Power, many developed countries all incorporate it into the intelligent transportation system respectively given priority to.Automatic Pilot is to realize intelligence
The key technology of automobile.
In order to realize automatic Pilot technology, need to carry sensory perceptual system on automobile, the row for detecting and identifying road
People, vehicle etc..Therefore, it before by sensory perceptual system practice, needs to verify the detectivity of sensory perceptual system.
Currently, there are mainly two types of sensory perceptual system measuring technologies：Sensory perceptual system, example are tested using actual system and environment
Such as the automobile with sensory perceptual system is travelled on actual road to test the detecting function of sensory perceptual system, this test mode is deposited
The problem of be that testing cost is very high；Sensory perceptual system is tested using test platform, this test mode is the problem is that survey
Before sensory perceptual system after the completion of examination is deployed in practice, it is still necessary to take a significant amount of time and at original modification and transplanting.
Invention content
The main purpose of the present invention is to provide a kind of target object sensory perceptual system test method, devices and computer-readable
Storage medium, it is intended at least solve one of above-mentioned technical problem.
To achieve the above object, the present invention provides a kind of target object sensory perceptual system test method, the target object sense
Know that system detection method includes：
The monitoring data of preset sensor acquisition are obtained, the preset sensor is equipped in mobile device；
The monitoring picture for exporting the monitoring data, when monitoring in picture there are when target object, according to the monitoring number
According to, obtain the target object type information and the target object with the mobile device relative position information；
Show the type information and the relative position information.
Optionally, include before the monitoring data for obtaining preset sensor acquisition：
Monitoring data are acquired by the preset sensor being equipped in mobile device, the monitoring data are corresponding
Acquisition time associated storage is in preset memory.
Optionally, the monitoring picture of the output monitoring data includes：
According to the sequencing of the corresponding acquisition time of the monitoring data, the corresponding prison of the monitoring data is sequentially exported
Survey picture.
Optionally, described according to the monitoring data, obtain relative position of the target object with the mobile device
Information includes：
It is only according to every group when the monitoring data are made of the independent monitoring data that multiple and different type sensors acquire
It is opposite with the basis of the mobile device that the corresponding target object of every group of independence monitoring data is calculated in vertical monitoring data
Location information；
Believed with the basic relative position of the mobile device according to the corresponding target object of every group of independence monitoring data
Breath, by corrected Calculation, obtains current relative position information of the target object with the mobile device.
Optionally, the display type information and the relative position information include：
Current display position of the target object in monitoring picture is obtained, the current display position is based on, obtains
Target location shows the type information and the relative position information in the target location.
In addition, to achieve the above object, the present invention also provides a kind of target object sensory perceptual system test device, the targets
Subject perceptions opening machine system test device includes：It memory, processor and is stored on the memory and can be on the processor
The target object sensory perceptual system test program of operation, when the target object sensory perceptual system test program is executed by the processor
The step of realizing target object sensory perceptual system test method as described above.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
Target object sensory perceptual system test program is stored on storage medium, the target object sensory perceptual system test program is by processor
The step of target object sensory perceptual system test method as described above is realized when execution.
In the present invention, sensor is equipped in mobile device, the monitoring data of sensor acquisition is obtained, exports the prison
The corresponding monitoring picture of measured data, and when monitoring in picture there are when target object, according to monitoring data, obtain the target object
Type information and the target object with mobile device relative position information, and show the corresponding type information of the target with
And the relative position information.Through the invention, due to sensor acquisition it is monitoring data in practical application scene, based on should
After the completion of monitoring data test target object sensory perceptual system, target object sensory perceptual system is deployed in actual use scene
Before, no longer need to modify to target object sensory perceptual system, save time cost, R＆D costs, human cost and finance at
This.
Description of the drawings
Fig. 1 is the apparatus structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of target object sensory perceptual system test method first embodiment of the present invention；
Fig. 3 is the scene signal of sensor gathered data in one embodiment of target object sensory perceptual system test method of the present invention
Figure；
Fig. 4 is the schematic diagram of a scenario of data processing in one embodiment of target object sensory perceptual system test method of the present invention；
Fig. 5 is the schematic diagram of a scenario that result is shown in one embodiment of target object sensory perceptual system test method of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
As shown in Figure 1, the apparatus structure schematic diagram for the hardware running environment that Fig. 1, which is the embodiment of the present invention, to be related to.
Device of the embodiment of the present invention can be server, PC, can also be the terminal devices such as pocket computer.
As shown in Figure 1, the device may include：Processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 may include optionally that the wired of standard connects
Mouth, wireless interface (such as WI-FI interfaces).Memory 1005 can be high-speed RAM memory, can also be stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
It will be understood by those skilled in the art that the restriction of the not structure twin installation of apparatus structure shown in Fig. 1, can wrap
It includes than illustrating more or fewer components, either combines certain components or different components arrangement.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage media
Believe module, Subscriber Interface Module SIM and target object sensory perceptual system test program.
In device shown in Fig. 1, network interface 1004 is mainly used for connecting background server, is carried out with background server
Data communicate；User interface 1003 is mainly used for connecting client (user terminal), with client into row data communication；And processor
1001 can be used for calling the target object sensory perceptual system test program stored in memory 1005, and execute following operation：
The monitoring data of preset sensor acquisition are obtained, the preset sensor is equipped in mobile device；
The monitoring picture for exporting the monitoring data, when monitoring in picture there are when target object, according to the monitoring number
According to, obtain the target object type information and the target object with the mobile device relative position information；
Show the type information and the relative position information.
Further, include before the monitoring data for obtaining preset sensor acquisition：
Monitoring data are acquired by the preset sensor being equipped in mobile device, the monitoring data are corresponding
Acquisition time associated storage is in preset memory.
Further, the monitoring picture of the output monitoring data includes：
According to the sequencing of the corresponding acquisition time of the monitoring data, the corresponding prison of the monitoring data is sequentially exported
Survey picture.
Further, described according to the monitoring data, obtain opposite position of the target object with the mobile device
Confidence ceases：
It is only according to every group when the monitoring data are made of the independent monitoring data that multiple and different type sensors acquire
It is opposite with the basis of the mobile device that the corresponding target object of every group of independence monitoring data is calculated in vertical monitoring data
Location information；
Believed with the basic relative position of the mobile device according to the corresponding target object of every group of independence monitoring data
Breath, by corrected Calculation, obtains current relative position information of the target object with the mobile device.
Further, the display type information and the relative position information include：
Current display position of the target object in monitoring picture is obtained, the current display position is based on, obtains
Target location shows the type information and the relative position information in the target location.
It is the flow diagram of target object sensory perceptual system test method first embodiment of the present invention with reference to Fig. 2, Fig. 2.
In one embodiment, target object sensory perceptual system test method includes：
Step S10, obtains the monitoring data of preset sensor acquisition, and the preset sensor is equipped in mobile device；
In the present embodiment, preset sensor is equipped in mobile device, and mobile device can be automobile, robot etc..This
In embodiment, preset sensor may include camera, radar, infrared distance sensor etc..In the present embodiment, preset sensor
The monitoring data of acquisition are stored in memory, and memory can be solid state disk or mechanical hard disk or storage cloud, not do herein
Limitation.
It is sensor gathered data in one embodiment of target object sensory perceptual system test method of the present invention with reference to Fig. 3, Fig. 3
Schematic diagram of a scenario.
Sensor includes camera and radar, is equipped on automobile, and camera real-time data collection, data are introduced into camera shooting
The data cache region A of head, such as DDR4 memories, are then stored in memory C；Radar real-time data collection, data are advanced
Enter the data cache region B of radar, such as DDR4 memories, is then stored in memory C.In the present embodiment, the number of camera
It can be the same DDR4 memories according to the data cache region of buffer zone and radar, can also be in independent two DDR4
Deposit, the memory of data that storage camera acquires in real time with to store the memory for the data that radar acquires in real time can be same
A memory can also be independent two memories, and this is not restricted.
The data of all the sensors acquisition stored in memory, i.e. monitoring data, wherein all data are corresponding with it
The collected time.
In the present embodiment, when memory is cloud storage, target object sensory perceptual system test device (computer, service
Device etc. has the terminal device of calculation processing ability) monitoring data are obtained from cloud storage；When memory is hard disk, target
Subject perceptions opening machine system test device obtains monitoring data from hard disk.
Step S20 exports the monitoring picture of the monitoring data, when monitoring in picture there are when target object, according to institute
State monitoring data, obtain the target object type information and the target object with the mobile device relative position
Information；
In the present embodiment, when sensor is camera, monitoring data are the data of camera acquisition, which is video
The sequencing of data, the then time being collected according to data plays corresponding video pictures.After the data are acquired by camera
In memory, the process that target object sensory perceptual system obtains data from memory is for storage：Data are by memory to caching
(such as DDR4), then by being cached to target object sensory perceptual system.In video pictures playing process, detect in video pictures in real time
With the presence or absence of target object, wherein target object includes people, vehicle, track, traffic lights etc..By characteristics of image identification technology,
When recognizing in video pictures, there are when target object, determine the type of target object, such as target object behaviour/vehicle/vehicle
Then opposite position of the target object with mobile device is calculated by preset Target Distance Estimation model and related algorithm in road
Confidence ceases.In the present embodiment, related algorithm can be passive focusing telemetry, passive range of defocusing method, based on the passive of light stream
Telemetry, the telemetry etc. based on sequential image feature extraction.It is selected with specific reference to actual needs, is not limited herein.
With reference to Fig. 4, Fig. 4 is that the scene of data processing in one embodiment of target object sensory perceptual system test method of the present invention is shown
It is intended to.In the present embodiment, when sensor is camera and radar, data and radar that monitoring data are acquired by camera acquire
Data composition.Based on the data of camera acquisition, the sequencing for the time being collected according to data plays corresponding video
Picture.In video pictures playing process, detects whether there is target object in video pictures in real time, wherein target object includes
People, vehicle, track, traffic lights etc..By characteristics of image identification technology, when recognizing in video pictures there are when target object,
Such as people is recognized, the corresponding acquisition time of current video picture is obtained, preset Target Distance Estimation model and correlation are passed through
Relative position information of the target object with mobile device is calculated in algorithm, such as is denoted as relative position information 1.It is acquired in radar
Data in search the corresponding radar data of the acquisition time, according to radar data, calculate phase of the target object with mobile device
To location information, such as it is denoted as relative position information 2.In the present embodiment, in order to enable the target object arrived is the same as the mobile dress
The relative position information set is more accurate, can obtain target by presetting rule in conjunction with relative position 1 and relative position 2
Relative position information of the object with the mobile device.For example, in one embodiment, when the data acquired according to camera calculate
Obtained target object is (9,15) with the relative position information 1 of mobile device, what the data acquired according to radar were calculated
Object is (8,16) with the relative position information 2 of mobile device, can be by way of being averaged, and obtained target object is the same as shifting
The relative position information of dynamic device is (8.5,15.5).
Step S30 shows the type information and the relative position information.
In the present embodiment, for example, the target object obtained by step S20 is with the relative position information of mobile device
The type of (X, Y), the target object are " people ", then show the relative position information (X, Y) and type information " people ".
The display location of the relative position information and type information can based on target object monitoring picture on display location into
Row determines, can also be shown in fixed display location.It is target object sensory perceptual system test method of the present invention with reference to Fig. 5, Fig. 5
The schematic diagram of a scenario that result is shown in one embodiment.In the present embodiment, display location of the target object on monitoring picture is obtained,
Choose the midpoint O in the display location, based on the position of midpoint O, to five units of right translation, as relative position information with
And the display location of type information.It is observed by testing staff, judges the type and relative position information of display target object
Whether it is correct, if correctly, then the target object sensory perceptual system is by test, if tester thinks the target of display
The type and relative position information of object are not accurate enough, then are debugged to target object sensory perceptual system, such as adjustment algorithm,
More emat sensor etc..
In the present embodiment, sensor is equipped in mobile device, obtains the monitoring data of sensor acquisition, output should
The corresponding monitoring picture of monitoring data, and when monitoring in picture there are when target target object, according to monitoring data, be calculated
The target target object and shows the relative position information with the relative position information of mobile device.Through this embodiment, due to
What sensor acquired is the monitoring data in practical application scene, is tested target object sensory perceptual system based on the monitoring data
Cheng Hou no longer needs to repair target object sensory perceptual system before target object sensory perceptual system is deployed in actual use scene
Change, saves time cost, R＆D costs, human cost and financial cost.
Further, in one embodiment of target object sensory perceptual system test method of the present invention, include before step S10：
Monitoring data are acquired by the preset sensor being equipped in mobile device, the monitoring data are corresponding
Acquisition time associated storage is in preset memory.
There are two types of the existing mode tested sensory perceptual system is general：
Sensory perceptual system is tested using actual system and environment, such as by the automobile with sensory perceptual system in actual road
Upper traveling is to test the detecting function of sensory perceptual system, and this test mode is the problem is that testing cost is very high；Use experiment
Platform tests sensory perceptual system, and this test mode is not actual usage scenario, therefore the problem is that in test
Before sensory perceptual system after the completion of test is deployed in practice, it is still necessary to take a significant amount of time and at original modification and transplanting.
In the present embodiment, sensor is carried on the mobile device with an independent part, sensor acquires monitoring data,
The monitoring data are the data actually used in scene, by the monitoring data with corresponding acquisition time associated storage in memory
In.Memory can be solid state disk, mechanical hard disk, cloud storage etc..
In the present embodiment, what is stored in memory is the data that sensor acquires in actually using scene, is equivalent to base
Target object sensory perceptual system is tested in practical application scene so that the target object sensory perceptual system for completing test is more bonded
Actual needs does not subsequently need any extra time and additional target object sensory perceptual system to be deployed in actual system
Cost.
Further, in one embodiment of target object sensory perceptual system test method of the present invention, the monitoring data are exported
Monitoring picture includes：
According to the sequencing of the corresponding acquisition time of the monitoring data, the corresponding prison of the monitoring data is sequentially exported
Survey picture.
In the present embodiment, when sensor is camera, monitoring data are the data of camera acquisition, which is video
The sequencing of data, the then time being collected according to data plays corresponding video pictures.
In the present embodiment, according to the corresponding monitoring picture of sequencing output data for the time that data are collected, accomplish
Monitoring data are based on, are analyzed in real time, more fitting actual needs.
Further, described according to the prison in one embodiment of target object sensory perceptual system test method of the present invention
Measured data, the relative position information for obtaining the target object with the mobile device include：
It is only according to every group when the monitoring data are made of the independent monitoring data that multiple and different type sensors acquire
It is opposite with the basis of the mobile device that the corresponding target object of every group of independence monitoring data is calculated in vertical monitoring data
Location information；
Believed with the basic relative position of the mobile device according to the corresponding target object of every group of independence monitoring data
Breath, by corrected Calculation, obtains current relative position information of the target object with the mobile device.
In the present embodiment, when sensor is camera, monitoring data are the data of camera acquisition, which is video
The sequencing of data, the then time being collected according to data plays corresponding video pictures.In video pictures playing process,
It whether there is target object in detection video pictures in real time, wherein target object includes people, vehicle, track, traffic lights etc..Pass through
Characteristics of image identification technology determines the type of target object, such as target when recognizing in video pictures there are when target object
Then it is same target object to be calculated by preset Target Distance Estimation model and related algorithm in object behaviour/vehicle/track
The relative position information of mobile device.In the present embodiment, related algorithm can be passive focusing telemetry, passive range of defocusing
Method, the passive ranging method based on light stream, the telemetry etc. based on sequential image feature extraction.It is selected with specific reference to actual needs
It selects, is not limited herein.
With reference to Fig. 4, Fig. 4 is that the scene of data processing in one embodiment of target object sensory perceptual system test method of the present invention is shown
It is intended to.In the present embodiment, when sensor is camera and radar, data and radar that monitoring data are acquired by camera acquire
Data composition.Based on the data of camera acquisition, the sequencing for the time being collected according to data plays corresponding video
Picture.In video pictures playing process, detects whether there is target object in video pictures in real time, wherein target object includes
People, vehicle, track, traffic lights etc..By characteristics of image identification technology, when recognizing in video pictures there are when target object,
Such as people is recognized, the corresponding acquisition time of current video picture is obtained, preset Target Distance Estimation model and correlation are passed through
Relative position information of the target object with mobile device is calculated in algorithm, such as is denoted as relative position information 1.It is acquired in radar
Data in search the corresponding radar data of the acquisition time, according to radar data, calculate phase of the target object with mobile device
To location information, such as it is denoted as relative position information 2.In the present embodiment, in order to enable the target object arrived is the same as the mobile dress
The relative position information set is more accurate, can obtain target by presetting rule in conjunction with relative position 1 and relative position 2
Relative position information of the object with the mobile device.For example, in one embodiment, when the data acquired according to camera calculate
Obtained target object is (9,15) with the relative position information 1 of mobile device, what the data acquired according to radar were calculated
Object is (8,16) with the relative position information 2 of mobile device, can be by way of being averaged, and obtained target object is the same as shifting
The relative position information of dynamic device is (8.5,15.5).
In the present embodiment, when sensor have multiple and type it is different when, the data acquired by each sensor calculate
To target object with the relative position information of mobile device, then according to all data being calculated, it is modified calculating, is obtained
To final target object with the relative position information of mobile device so that the same mobile device of target object obtained by calculation
Relative position information it is more accurate.
Further, in one embodiment of target object sensory perceptual system test method of the present invention, the display type letter
Breath and the relative position information include：
Current display position of the target object in monitoring picture is obtained, the current display position is based on, obtains
Target location shows the type information and the relative position information in the target location.
In the present embodiment, for example, the target object obtained by step S20 is with the relative position information of mobile device
The type of (X, Y), the target object are " people ", then show the relative position information (X, Y) and type information " people ".
The display location of the relative position information and type information can based on target object monitoring picture on display location into
Row determines, can also be shown in fixed display location.It is target object sensory perceptual system test method of the present invention with reference to Fig. 5, Fig. 5
The schematic diagram of a scenario that result is shown in one embodiment.In the present embodiment, display location of the target object on monitoring picture is obtained,
Choose the midpoint O in the display location, based on the position of midpoint O, to five units of right translation, as relative position information with
And the display location of type information.It is observed by testing staff, judges the type and relative position information of display target object
Whether it is correct, if correctly, then the target object sensory perceptual system is by test, if tester thinks the target of display
The type and relative position information of object are not accurate enough, then are debugged to target object sensory perceptual system, such as adjustment algorithm,
More emat sensor etc..
In the present embodiment, display type information and relative position information contribute to tester to judge the target object
Whether sensory perceptual system only can think that the type information and relative position information are correctly to believe by test in tester
When breath, which could pass through test, it is ensured that the detectivity of target object sensory perceptual system.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium, the computer readable storage medium
On be stored with target object sensory perceptual system test program, it is real when the target object sensory perceptual system test program is executed by processor
Now the step of target object sensory perceptual system test method as described above.
The specific embodiment of computer readable storage medium of the present invention and above-mentioned target object sensory perceptual system test method
Each embodiment is essentially identical, and this will not be repeated here.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or system.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions use so that a station terminal equipment (can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of target object sensory perceptual system test method, which is characterized in that the target object sensory perceptual system test method packet
It includes：
The monitoring data of preset sensor acquisition are obtained, the preset sensor is equipped in mobile device；
The monitoring picture for exporting the monitoring data, according to the monitoring data, is obtained when monitoring in picture there are when target object
Take the target object type information and the target object with the mobile device relative position information；
Show the type information and the relative position information.
2. target object sensory perceptual system test method as described in claim 1, which is characterized in that described to obtain preset sensor
Include before the monitoring data of acquisition：
Monitoring data are acquired by the preset sensor being equipped in mobile device, by the corresponding acquisition of the monitoring data
Association in time is stored in preset memory.
3. target object sensory perceptual system test method as claimed in claim 2, which is characterized in that the output monitoring number
According to monitoring picture include：
According to the sequencing of the corresponding acquisition time of the monitoring data, the corresponding monitoring picture of the monitoring data is sequentially exported
Face.
4. target object sensory perceptual system test method as described in claim 1, which is characterized in that described according to the monitoring number
According to the relative position information for obtaining the target object with the mobile device includes：
When the monitoring data are made of the independent monitoring data that multiple and different type sensors acquire, according to every group of independent prison
Basic relative position of the corresponding target object of every group of independence monitoring data with the mobile device is calculated in measured data
Information；
According to the corresponding target object of every group of independence monitoring data with the basic relative position information of the mobile device, lead to
Corrected Calculation is crossed, current relative position information of the target object with the mobile device is obtained.
5. target object sensory perceptual system test method as described in claim 1, which is characterized in that the display type letter
Breath and the relative position information include：
Current display position of the target object in monitoring picture is obtained, the current display position is based on, obtains target
Position shows the type information and the relative position information in the target location.
6. a kind of target object sensory perceptual system test device, which is characterized in that the target object sensory perceptual system test device packet
It includes：Memory, processor and it is stored in the target object sensory perceptual system that can be run on the memory and on the processor
Test program, the target object sensory perceptual system test program realize following steps when being executed by the processor：
The monitoring data of preset sensor acquisition are obtained, the preset sensor is equipped in mobile device；
The monitoring picture for exporting the monitoring data, according to the monitoring data, is obtained when monitoring in picture there are when target object
Take the target object type information and the target object with the mobile device relative position information；
Show the type information and the relative position information.
7. target object sensory perceptual system test device as claimed in claim 6, which is characterized in that described to obtain preset sensor
Include before the monitoring data of acquisition：
Monitoring data are acquired by the preset sensor being equipped in mobile device, by the corresponding acquisition of the monitoring data
Association in time is stored in preset memory.
8. target object sensory perceptual system test device as claimed in claim 6, which is characterized in that the output monitoring number
According to monitoring picture include：
According to the sequencing of the corresponding acquisition time of the monitoring data, the corresponding monitoring picture of the monitoring data is sequentially exported
Face.
9. target object sensory perceptual system test device as claimed in claim 6, which is characterized in that target object perception system
System test program also realizes target object sensory perceptual system as described in claim 4 or 5 test side when being executed by the processor
The step of method.
10. a kind of computer readable storage medium, which is characterized in that be stored with target pair on the computer readable storage medium
As sensory perceptual system test program, such as claim 1 is realized when the target object sensory perceptual system test program is executed by processor
The step of to target object sensory perceptual system test method described in any one of 5.
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