CN108981718A - A kind of pedestrian's localization method and system - Google Patents
A kind of pedestrian's localization method and system Download PDFInfo
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- CN108981718A CN108981718A CN201811098578.XA CN201811098578A CN108981718A CN 108981718 A CN108981718 A CN 108981718A CN 201811098578 A CN201811098578 A CN 201811098578A CN 108981718 A CN108981718 A CN 108981718A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The present invention discloses a kind of pedestrian's localization method and system.The co-registration of coordinate systems used of RFID location system and vision positioning system is the same world coordinate system comprising steps of S1, localization region is divided into multiple subregions by one specific embodiment of this method；S2, it is based on RFID location system, treats positioning pedestrian in real time and carries out RFID positioning；And view-based access control model positioning system, positioning pedestrian is treated at set time intervals carries out vision positioning；S3, judge whether vision positioning result is in same subregion with RFID positioning result in the same time: if so, determining RFID positioning effectively, and being transferred to step S2；If it is not, then determining RFID positioning failure, and it is transferred to step S4；S4, view-based access control model positioning system treat positioning pedestrian in real time and carry out vision positioning.The embodiment can take into account positioning accuracy and locating speed, and while being avoided that RFID positioning failure can not be positioned, especially suitable for the positioning in company room, in the scenes such as plant area to personnel such as visitors.
Description
Technical field
The present invention relates to field of locating technology.More particularly, to a kind of pedestrian's localization method and system.
Background technique
Due to there is the research and development room of secrecy or workshop etc., usually needed in company room, in the scenes such as plant area
The personnel such as visitor are positioned, the mode of positioning generallys use RFID, and (Radio Frequency Identification, is penetrated
Frequency identifies) positioning, although RFID positioning can be realized relatively accurate and positioning faster, the positioning method is dependent on undetermined
Thus there is pedestrian and abandon RFID tag or RFID tag failure and lead to RFID positioning failure in the RFID tag that position personnel wear
The problem of.
Existing vision positioning mode shoots image by the camera installed in localization region, then to image carry out to
The data processings based on image algorithm such as target signature identification, signature tracking and pose estimation are positioned, are realized to target to be positioned
Positioning.But vision positioning mode is since the image algorithm generallyd use is more complex, although positioning accuracy is high, computationally intensive,
Operation is at high cost, real-time is poor, i.e., locating speed is slow.
Accordingly, it is desirable to provide one kind takes into account positioning accuracy and locating speed, and can not be into when being avoided that RFID positioning failure
The pedestrian's localization method and system of row positioning.
Summary of the invention
The purpose of the present invention is to provide one kind to take into account positioning accuracy and locating speed, and be avoided that RFID positioning failure when
The pedestrian's localization method and system that can not be positioned.
In order to achieve the above objectives, the present invention adopts the following technical solutions:
First aspect present invention provides a kind of pedestrian's localization method, comprising steps of
S1, localization region is divided into multiple subregions, the coordinate system of RFID location system and vision positioning system is matched
Standard is the same world coordinate system；
S2, it is based on RFID location system, treats positioning pedestrian in real time and carries out RFID positioning；And view-based access control model positioning system,
Positioning pedestrian is treated at set time intervals carries out vision positioning；
S3, judge whether vision positioning result is in same subregion with RFID positioning result in the same time:
If so, determining RFID positioning effectively, and it is transferred to step S2；
If it is not, then determining RFID positioning failure, and it is transferred to step S4；
S4, view-based access control model positioning system treat positioning pedestrian in real time and carry out vision positioning.
Pedestrian's localization method that first aspect present invention provides organically combines vision positioning with RFID positioning,
The vision positioning at real-time RFID positioning and interval is first carried out, passes through the multilevel iudge of two positioning results after each vision positioning
Whether RFID positioning is effective, if RFID positioning failure is carrying out real-time vision positioning.On the one hand pass through the reliable of vision positioning
Property and accuracy efficiently solve the problems, such as RFID tag be dropped or break down and cause RFID positioning failure, another party
By combining RFID positioning that can efficiently solve, vision positioning is computationally intensive, operation is at high cost and processing speed is slow is asked in face
Topic improves the precision of positioning while improving timeliness.Especially suitable in company room, in the scenes such as plant area to visitor etc.
The positioning of personnel.
Preferably, described localization region is divided into multiple subregions to further comprise: according to the area of localization region,
In RFID location system in the distribution situation and vision positioning system of RFID reader the distribution situation of camera by localization region
It is divided into multiple subregions.
Preferably, step S1 further include:
To vision positioning system pedestrian to be positioned enter localization region rise the multiple image that continuously acquires carry out it is to be positioned
Pedestrian's feature extraction, and the RFID identification number association corresponding with the pedestrian to be positioned of the feature of obtained pedestrian to be positioned is remembered
Record.Using this preferred mode, it can guarantee positioning result ratio when existing simultaneously multiple pedestrians to be positioned for certain localization region
Compared with when comparison other and judge the correctness of pedestrian to be positioned corresponding RFID positioning whether effectively grade subsequent steps.
Preferably, step S4 further include: issue the RFID positioning failure alarm of corresponding pedestrian to be positioned.It is preferred using this
Mode can carry out alarm for the corresponding pedestrian to be positioned of RFID positioning failure automatically, and conducive to locating and monitoring, personnel have found in time
RFID positioning failure conditions simultaneously take corresponding measure.
Preferably, step S4 further include: view-based access control model positioning system, according to the history image data meter of vision positioning system
It calculates pedestrian to be positioned and enters the vision positioning of localization region to moment each between current time as a result, and drawing pedestrian's to be positioned
Motion profile.Using this preferred mode, it is fixed from entering that pedestrian to be positioned can be drawn automatically after judging RFID positioning failure
The motion profile that position region is risen, locating and monitoring personnel can check the movement rail of the corresponding pedestrian to be positioned of RFID positioning failure in time
Mark simultaneously takes corresponding measure.
Second aspect of the present invention provides a kind of pedestrian's positioning system, comprising: location-server is worn on pedestrian to be positioned
RFID tag and the multiple cameras and multiple RFID readers that are distributed in localization region；
Localization region is divided into multiple subregions by the location-server, by RFID location system and vision positioning system
The co-registration of coordinate systems used of system is the same world coordinate system；The information in RFID tag received according to RFID reader, in real time
It treats positioning pedestrian and carries out RFID positioning；According to camera shoot image, treat at set time intervals positioning pedestrian into
Row vision positioning；Judge whether vision positioning result is in same subregion with RFID positioning result in the same time: if so, sentencing
Determine RFID positioning effectively, continuation treats positioning pedestrian in real time and carries out RFID positioning and treat positioning pedestrian at set time intervals
Carry out vision positioning；If it is not, then determining RFID positioning failure, and the image shot according to camera, positioning pedestrian is treated in real time
Carry out vision positioning.
Pedestrian's positioning system that second aspect of the present invention provides organically combines vision positioning with RFID positioning,
The vision positioning at real-time RFID positioning and interval is first carried out, passes through the multilevel iudge of two positioning results after each vision positioning
Whether RFID positioning is effective, if RFID positioning failure is carrying out real-time vision positioning.On the one hand pass through the reliable of vision positioning
Property and accuracy efficiently solve the problems, such as RFID tag be dropped or break down and cause RFID positioning failure, another party
By combining RFID positioning that can efficiently solve, vision positioning is computationally intensive, operation is at high cost and processing speed is slow is asked in face
Topic improves the precision of positioning while improving timeliness.Especially suitable in company room, in the scenes such as plant area to visitor etc.
The positioning of personnel.
Preferably, the location-server, according to the area of localization region, the distribution situation of RFID reader and camera
Distribution situation localization region is divided into multiple subregions.
Preferably, the location-server also enters what localization region continuously acquired in pedestrian to be positioned to camera
Multiple image carries out pedestrian's feature extraction to be positioned, and the feature of obtained pedestrian to be positioned is corresponding with the pedestrian to be positioned
Identification number associated record in RFID tag.Using this preferred mode, can for certain localization region exist simultaneously it is multiple to
When positioning pedestrian, guarantees comparison other when positioning result compares and judge whether the corresponding RFID positioning of pedestrian to be positioned is effective
The correctness of equal subsequent steps.
Preferably, the location-server is judging that vision positioning result is not at RFID positioning result in the same time
After same subregion, the RFID positioning failure alarm of corresponding pedestrian to be positioned is also issued.Using this preferred mode, positioning service
Device can carry out alarm for the corresponding pedestrian to be positioned of RFID positioning failure automatically, and conducive to locating and monitoring, personnel have found RFID in time
Positioning failure conditions simultaneously take corresponding measure.
Preferably, the location-server is judging that vision positioning result is not at RFID positioning result in the same time
After same subregion, enter localization region extremely also according to the history image data calculating pedestrian to be positioned of camera shooting image
The vision positioning at each moment is as a result, and draw the motion profile of pedestrian to be positioned between current time.It is fixed using this preferred mode
Position server can draw automatically movement rail of the pedestrian to be positioned from entering localization region after judging RFID positioning failure
Mark, locating and monitoring personnel can check the motion profile of the corresponding pedestrian to be positioned of RFID positioning failure in time and take and accordingly arrange
It applies.
Beneficial effects of the present invention are as follows:
Technical solution of the present invention can take into account positioning accuracy and locating speed, and being avoided that can not when RFID positioning is failed
It is positioned, especially suitable for the positioning in company room, in the scenes such as plant area to personnel such as visitors.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing；
Fig. 1 shows the flow chart of pedestrian's localization method provided in an embodiment of the present invention.
Fig. 2 shows the schematic diagrames of pedestrian's positioning system provided in an embodiment of the present invention.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
As shown in Figure 1, An embodiment provides a kind of pedestrian's localization methods, comprising steps of
S1, localization region is divided into multiple subregions, the coordinate system of RFID location system and vision positioning system is matched
Standard is the same world coordinate system；
S2, it is based on RFID location system, treats positioning pedestrian in real time and carries out RFID positioning；And view-based access control model positioning system,
Positioning pedestrian is treated at set time intervals carries out vision positioning；
S3, judge whether vision positioning result is in same subregion with RFID positioning result in the same time:
If so, determining RFID positioning effectively, and it is transferred to step S2；
If it is not, then determining RFID positioning failure, and it is transferred to step S4；
S4, view-based access control model positioning system treat positioning pedestrian in real time and carry out vision positioning.
Vision positioning is organically combined with RFID positioning, is first carried out by pedestrian's localization method provided in this embodiment
Real-time RFID is positioned and the vision positioning at interval, fixed by the multilevel iudge RFID of two positioning results after each vision positioning
Whether position is effective, if RFID positioning failure is carrying out real-time vision positioning.On the one hand pass through the reliability and standard of vision positioning
True property efficiently solves the problems, such as that RFID tag is dropped or breaks down and leads to RFID positioning failure, on the other hand passes through
The problem that vision positioning is computationally intensive, operation is at high cost and processing speed is slow can be efficiently solved in conjunction with RFID positioning, is mentioned
The precision of positioning is improved while high-timeliness.Especially suitable in company room, in the scenes such as plant area to personnel such as visitors
Positioning.
It should be noted that the principle of RFID positioning be according to whether calculate to electromagnetic transmission distance, can will
RFID location algorithm is divided into RFID location mechanism based on ranging and based on non-ranging RFID location mechanism, ranging localization mechanism
The localization methods such as including TOA, TDOA, AOA and RSSI, range-free localization mechanism include center coordination, APIT and KNN positioning
Method etc..The specific location algorithm that the present embodiment uses RFID location system is with no restrictions.In addition, vision positioning system can be right
The image of camera shooting carries out the data based on image algorithm such as target signature identification, signature tracking and pose estimation to be positioned
The positioning to target to be positioned is realized in processing.The present embodiment does not do the specific image algorithm that vision positioning system uses equally
Limitation.
In some optional implementations of the present embodiment, described that localization region is divided into multiple subregions is further
It include: according to being taken the photograph in the distribution situation and vision positioning system of RFID reader in the area of localization region, RFID location system
Localization region is divided into multiple subregions by the factors such as the distribution situation as head.Wherein, the area of all subregion, shape etc. can
With it is identical can not also be identical, specific division mode according to above-mentioned factor and actual needs be designed.In addition, can will also determine
Position region division is all subregion is numbered after multiple subregions, in order to subsequent judgement.
In some optional implementations of the present embodiment, step S1 further include:
To vision positioning system pedestrian to be positioned enter localization region rise the multiple image that continuously acquires carry out it is to be positioned
Pedestrian's feature extraction, and the RFID identification number association corresponding with the pedestrian to be positioned of the feature of obtained pedestrian to be positioned is remembered
Record.Wherein, the specific frame number of multiple image can be determined according to specific feature extraction mode, be typically set at 10 frames or so i.e.
It can.Using this implementation, it can guarantee positioning result ratio when existing simultaneously multiple pedestrians to be positioned for some localization region
Compared with when comparison other and judge the correctness of pedestrian to be positioned corresponding RFID positioning whether effectively grade subsequent steps.
In some optional implementations of the present embodiment, step S4 further include: issue corresponding pedestrian's to be positioned
RFID positioning failure alarm.Using this implementation, can be warned automatically for the corresponding pedestrian to be positioned of RFID positioning failure
Report finds RFID positioning failure conditions conducive to locating and monitoring personnel in time and takes corresponding measure, such as Security Personnel is sent to look into
Treat the whether intact equal measures of RFID tag for positioning pedestrian.
In some optional implementations of the present embodiment, step S4 further include: view-based access control model positioning system, according to view
Feel that the history image data of positioning system calculate the vision that pedestrian to be positioned enters localization region to moment each between current time
Positioning result, and draw the motion profile of pedestrian to be positioned.Using this implementation, after can failing judging RFID positioning,
Automatically motion profile of the pedestrian to be positioned from entering localization region is drawn, locating and monitoring personnel can check that RFID positioning is lost in time
Imitate the motion profile of corresponding pedestrian to be positioned and take corresponding measure, for example, according to motion profile judgement secrecy research and development room or
A possibility that security areas such as workshop have been broken into simultaneously takes alarm according to the possibility or Security Personnel is sent to check guarantor
The measures such as close region.
In some optional implementations of the present embodiment, the time interval of setting is set as 50s-70s, optimum setting
For 60s.Using such implementation, can guarantee judge RFID positioning whether effective timeliness in the case where, reduction is whole
The calculation amount and operation cost of body.Below at set time intervals for for 60s to judge vision positioning result and in the same time
RFID positioning result whether be in same subregion and be illustrated, for example, 09 point 01 minute, 09 point 02 minute, 09 point 03 minute ...
Carry out vision positioning, then after 09 point of 01 minute progress vision positioning, judge 09 point of 01 minute vision positioning result with 09 point 01 minute
RFID positioning result whether be in same subregion, and so on.
As shown in Fig. 2, another embodiment of the present invention provides a kind of pedestrian's positioning systems, comprising: location-server,
The multiple cameras and multiple RFID readers for being worn on the RFID tag of pedestrian to be positioned and being distributed in localization region；
Localization region is divided into multiple subregions by the location-server, by RFID location system and vision positioning system
The co-registration of coordinate systems used of system is the same world coordinate system；The information in RFID tag received according to RFID reader, in real time
It treats positioning pedestrian and carries out RFID positioning；According to camera shoot image, treat at set time intervals positioning pedestrian into
Row vision positioning；Judge whether vision positioning result is in same subregion with RFID positioning result in the same time: if so, sentencing
Determine RFID positioning effectively, continuation treats positioning pedestrian in real time and carries out RFID positioning and treat positioning pedestrian at set time intervals
Carry out vision positioning；If it is not, then determining RFID positioning failure, and the image shot according to camera, positioning pedestrian is treated in real time
Carry out vision positioning.
It should be noted that the location-server is also removable to be divided into three servers-master control server, RFID positioning
Server and vision positioning server, then, RFID location-server and RFID tag and RFID reader constitute RFID positioning and are
System, vision positioning server and camera constitute vision positioning system,
Localization region is divided into multiple subregions by master control server, by RFID location system and vision positioning system
Co-registration of coordinate systems used is the same world coordinate system；
RFID location-server, the information in RFID tag received according to RFID reader, treats home row in real time
People carries out RFID positioning, i.e. RFID location system treats positioning pedestrian in real time and carries out RFID positioning；
Vision positioning server is treated positioning pedestrian at set time intervals and is carried out according to the image that camera is shot
Vision positioning, i.e. vision positioning system treat positioning pedestrian at set time intervals and carry out vision positioning；
Master control server, judges whether vision positioning result is in same subregion with RFID positioning result in the same time:
If so, judgement RFID positioning is effectively, continues control RFID location system and treat positioning pedestrian progress RFID positioning in real time and control
Vision positioning system processed treats positioning pedestrian at set time intervals and carries out vision positioning；If it is not, then determining that RFID positioning is lost
Effect, and control vision positioning system and treat positioning pedestrian's progress vision positioning in real time.
In some optional implementations of the present embodiment, the location-server, according to the area of localization region,
The factors such as the distribution situation of RFID reader and the distribution situation of camera, are divided into multiple subregions for localization region.
In some optional implementations of the present embodiment, the location-server, also to camera in row to be positioned
People enters localization region and acts the multiple image progress pedestrian's feature extraction to be positioned continuously acquired, and the pedestrian to be positioned that will be obtained
Feature RFID tag corresponding with the pedestrian to be positioned in identification number associated record.It should be noted that RFID tag has
There is unique identification code, the information in RFID tag that RFID reader receives includes unique identification code.
In some optional implementations of the present embodiment, the location-server, judge vision positioning result with
After RFID positioning result in the same time is not at same subregion, the RFID positioning failure police of corresponding pedestrian to be positioned is also issued
Report.
In some optional implementations of the present embodiment, the location-server, judge vision positioning result with
After RFID positioning result in the same time is not at same subregion, calculated also according to the history image data of camera shooting image
Pedestrian to be positioned enters localization region and rises to the vision positioning at moment each between current time as a result, and drawing the fortune of pedestrian to be positioned
Dynamic rail mark.It should be noted that the history image data of camera shooting image may be present in the memory of server, can also deposit
In the memory of camera, transferred when needed by server.It will be appreciated that the memory in camera or server can
Think integrated local memory device or expanding storage apparatus, such as: pluggable storage card, the present embodiment do not make this to have
Body limits.
It should be noted that the principle and workflow of pedestrian's positioning system provided in this embodiment and above-mentioned pedestrian position
Method is similar, and related place is referred to above description, and details are not described herein.
In the description of the present invention, it should be noted that the orientation or positional relationship of the instructions such as term " on ", "lower" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.Unless otherwise clearly defined and limited, term " installation ", " connected ", " connection " shall be understood in a broad sense, example
Such as, it may be fixed connection or may be dismantle connection, or integral connection；It can be mechanical connection, be also possible to be electrically connected
It connects；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
It should also be noted that, in the description of the present invention, relational terms such as first and second and the like are only used
Distinguish one entity or operation from another entity or operation, without necessarily requiring or implying these entities or
There are any actual relationship or orders between operation.Moreover, the terms "include", "comprise" or its any other change
Body is intended to non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wrapped
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that equipment is intrinsic.In the absence of more restrictions, the element limited by sentence "including a ...", and
It is not excluded in process, method, article or equipment in the process, method, article or apparatus that includes the element that there is also other identical elements.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention for those of ordinary skill in the art on the basis of the above description can be with
It makes other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to the present invention
The obvious changes or variations extended out of technical solution still in the scope of protection of the present invention.
Claims (10)
1. a kind of pedestrian's localization method, which is characterized in that comprising steps of
S1, localization region is divided into multiple subregions, the co-registration of coordinate systems used by RFID location system and vision positioning system is
The same world coordinate system；
S2, it is based on RFID location system, treats positioning pedestrian in real time and carries out RFID positioning；And view-based access control model positioning system, to set
Fixed time interval treats positioning pedestrian and carries out vision positioning；
S3, judge whether vision positioning result is in same subregion with RFID positioning result in the same time:
If so, determining RFID positioning effectively, and it is transferred to step S2；
If it is not, then determining RFID positioning failure, and it is transferred to step S4；
S4, view-based access control model positioning system treat positioning pedestrian in real time and carry out vision positioning.
2. pedestrian's localization method according to claim 1, which is characterized in that described that localization region is divided into multiple sub-districts
Domain further comprises: according to the distribution situation and vision positioning of RFID reader in the area of localization region, RFID location system
Localization region is divided into multiple subregions by the distribution situation of camera in system.
3. pedestrian's localization method according to claim 1, which is characterized in that step S1 further include:
Localization region is entered in pedestrian to be positioned to vision positioning system and acts the multiple image progress pedestrian to be positioned continuously acquired
Feature extraction, and by the feature of obtained pedestrian to be positioned RFID identification number associated record corresponding with the pedestrian to be positioned.
4. pedestrian's localization method according to claim 1, which is characterized in that step S4 further include: it is to be positioned to issue correspondence
The RFID positioning failure alarm of pedestrian.
5. pedestrian's localization method according to claim 1, which is characterized in that step S4 further include: view-based access control model positioning system
System, according to the history image data of vision positioning system calculate pedestrian to be positioned enter localization region rise to it is each between current time when
The vision positioning at quarter is as a result, and draw the motion profile of pedestrian to be positioned.
6. a kind of pedestrian's positioning system characterized by comprising location-server, the RFID tag for being worn on pedestrian to be positioned
With the multiple cameras and multiple RFID readers being distributed in localization region；
Localization region is divided into multiple subregions by the location-server, by RFID location system and vision positioning system
Co-registration of coordinate systems used is the same world coordinate system；The information in RFID tag received according to RFID reader, is treated in real time
It positions pedestrian and carries out RFID positioning；According to the image that camera is shot, positioning pedestrian is treated at set time intervals and is regarded
Feel positioning；Judge whether vision positioning result is in same subregion with RFID positioning result in the same time: if so, determining
RFID positioning effectively, continue in real time treat positioning pedestrian carry out RFID positioning and treat at set time intervals positioning pedestrian into
Row vision positioning；If it is not, then determine RFID positioning failure, and according to camera shoot image, treat in real time positioning pedestrian into
Row vision positioning.
7. pedestrian's positioning system according to claim 6, which is characterized in that the location-server, according to localization region
Area, the distribution situation of RFID reader and the distribution situation of camera localization region is divided into multiple subregions.
8. pedestrian's positioning system according to claim 6, which is characterized in that the location-server also exists to camera
Pedestrian to be positioned enters localization region and acts the multiple image that continuously acquires carries out pedestrian's feature extraction to be positioned, and will obtain to
Position the identification number associated record in the feature RFID tag corresponding with the pedestrian to be positioned of pedestrian.
9. pedestrian's positioning system according to claim 6, which is characterized in that the location-server is judging that vision is fixed
After position result is not at same subregion with RFID positioning result in the same time, the RFID positioning of corresponding pedestrian to be positioned is also issued
Failure alarm.
10. pedestrian's positioning system according to claim 6, which is characterized in that the location-server is judging vision
After positioning result is not at same subregion with RFID positioning result in the same time, also according to the history figure of camera shooting image
Enter the vision positioning of localization region to moment each between current time as a result, and drawing undetermined as data calculate pedestrian to be positioned
The motion profile of position pedestrian.
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| CN101325694A (en) * | 2007-06-13 | 2008-12-17 | 中国科学院自动化研究所 | System and method for monitoring intelligent video combining wireless radio frequency recognition technique |
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