CN108981718B - Pedestrian positioning method and system - Google Patents
Pedestrian positioning method and system Download PDFInfo
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- CN108981718B CN108981718B CN201811098578.XA CN201811098578A CN108981718B CN 108981718 B CN108981718 B CN 108981718B CN 201811098578 A CN201811098578 A CN 201811098578A CN 108981718 B CN108981718 B CN 108981718B
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- G01—MEASURING; TESTING
- 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
Abstract
The invention discloses a pedestrian positioning method and system. One embodiment of the method comprises the steps of: s1, dividing the positioning area into a plurality of sub-areas, and registering the coordinate systems of the RFID positioning system and the visual positioning system into the same world coordinate system; s2, performing RFID positioning on the pedestrian to be positioned in real time based on an RFID positioning system; based on a visual positioning system, carrying out visual positioning on the pedestrian to be positioned at set time intervals; s3, judging whether the visual positioning result and the RFID positioning result at the same time are in the same sub-area: if yes, judging that the RFID positioning is effective, and turning to the step S2; if not, judging that the RFID positioning is invalid, and turning to the step S4; and S4, visually positioning the pedestrian to be positioned in real time based on the visual positioning system. The implementation mode can give consideration to positioning precision and positioning speed, can avoid the situation that the RFID cannot be positioned when the positioning is invalid, and is particularly suitable for positioning personnel such as visitors in scenes such as company rooms and factories.
Description
Technical Field
The invention relates to the technical field of positioning. And more particularly, to a pedestrian positioning method and system.
Background
Due to the reasons of a confidential research and development room or a production workshop, people such as visitors and the like often need to be positioned in scenes such as a company room, a factory area and the like, the positioning mode usually adopts Radio Frequency Identification (RFID) positioning, and although the RFID positioning can realize accurate and rapid positioning, the positioning mode depends on an RFID tag worn by a person to be positioned, so that the problem that the RFID positioning is invalid due to the fact that pedestrians discard the RFID tag or the RFID tag fails exists.
In the existing visual positioning mode, a camera arranged in a positioning area shoots an image, and then data processing based on an image algorithm, such as target feature identification, feature tracking, pose estimation and the like, is carried out on the image, so that the target to be positioned is positioned. However, the vision positioning method usually adopts a complicated image algorithm, and although the positioning accuracy is high, the calculation amount is large, the calculation cost is high, the real-time performance is poor, that is, the positioning speed is slow.
Therefore, it is desirable to provide a method and a system for locating a pedestrian, which have both the positioning accuracy and the positioning speed and can avoid the failure of positioning when the RFID positioning fails.
Disclosure of Invention
The invention aims to provide a pedestrian positioning method and system which have the advantages of taking positioning accuracy and positioning speed into consideration and avoiding the problem that positioning cannot be carried out when RFID positioning fails.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a pedestrian positioning method in a first aspect, which comprises the following steps:
s1, dividing the positioning area into a plurality of sub-areas, and registering the coordinate systems of the RFID positioning system and the visual positioning system into the same world coordinate system;
s2, performing RFID positioning on the pedestrian to be positioned in real time based on an RFID positioning system; based on a visual positioning system, carrying out visual positioning on the pedestrian to be positioned at set time intervals;
s3, judging whether the visual positioning result and the RFID positioning result at the same time are in the same sub-area:
if yes, judging that the RFID positioning is effective, and turning to the step S2;
if not, judging that the RFID positioning is invalid, and turning to the step S4;
and S4, visually positioning the pedestrian to be positioned in real time based on the visual positioning system.
The pedestrian positioning method provided by the first aspect of the invention organically combines visual positioning and RFID positioning, firstly carries out real-time RFID positioning and interval visual positioning, judges whether the RFID positioning is effective or not through comparison of two positioning results after each visual positioning, and carries out real-time visual positioning if the RFID positioning is invalid. On one hand, the problem that RFID positioning is invalid due to the fact that the RFID label is discarded or breaks down is effectively solved through the reliability and the accuracy of visual positioning, on the other hand, the problems that the visual positioning is large in calculation amount, high in operation cost and low in processing speed can be effectively solved through combination of RFID positioning, and the positioning precision is improved while the timeliness is improved. The method is particularly suitable for positioning the visitor and other personnel in the scenes such as company rooms, factories and the like.
Preferably, the dividing the positioning area into a plurality of sub-areas further comprises: and dividing the positioning area into a plurality of sub-areas according to the area of the positioning area, the distribution condition of RFID readers in the RFID positioning system and the distribution condition of cameras in the visual positioning system.
Preferably, step S1 further includes:
and carrying out feature extraction on the pedestrian to be positioned by the vision positioning system on the multi-frame images continuously acquired when the pedestrian to be positioned enters the positioning area, and carrying out associated recording on the obtained features of the pedestrian to be positioned and the RFID identification number corresponding to the pedestrian to be positioned. By adopting the preferred mode, when a plurality of pedestrians to be positioned exist in a certain positioning area at the same time, the correctness of subsequent steps such as comparison objects in comparison of positioning results, judgment of whether the RFID positioning corresponding to the pedestrians to be positioned is effective and the like can be ensured.
Preferably, step S4 further includes: and sending out an RFID positioning failure alarm corresponding to the pedestrian to be positioned. By adopting the optimal mode, the pedestrian to be positioned corresponding to the RFID positioning failure can be automatically alarmed, so that the positioning monitoring personnel can find the RFID positioning failure condition in time and take corresponding measures.
Preferably, step S4 further includes: based on the visual positioning system, calculating a visual positioning result of the pedestrian to be positioned at each moment from the moment the pedestrian enters the positioning area to the current moment according to historical image data of the visual positioning system, and drawing a motion track of the pedestrian to be positioned. By adopting the optimal mode, after the RFID positioning failure is judged, the movement track of the pedestrian to be positioned from the position area is automatically drawn, and the positioning monitoring personnel can check the movement track of the pedestrian to be positioned corresponding to the RFID positioning failure in time and take corresponding measures.
A second aspect of the present invention provides a pedestrian positioning system comprising: the positioning system comprises a positioning server, an RFID tag worn on a pedestrian to be positioned, and a plurality of cameras and a plurality of RFID readers-writers distributed in a positioning area;
the positioning server divides a positioning area into a plurality of sub-areas, and coordinates of the RFID positioning system and the visual positioning system are registered into the same world coordinate system; according to the information in the RFID tag received by the RFID reader-writer, performing RFID positioning on the pedestrian to be positioned in real time; carrying out visual positioning on the pedestrian to be positioned at set time intervals according to the image shot by the camera; judging whether the visual positioning result and the RFID positioning result at the same moment are in the same sub-area: if yes, judging that the RFID positioning is effective, continuously performing RFID positioning on the pedestrian to be positioned in real time and performing visual positioning on the pedestrian to be positioned at set time intervals; and if not, judging that the RFID positioning is invalid, and carrying out visual positioning on the pedestrian to be positioned in real time according to the image shot by the camera.
The pedestrian positioning system provided by the second aspect of the invention organically combines visual positioning and RFID positioning, firstly performs real-time RFID positioning and interval visual positioning, judges whether RFID positioning is effective or not through comparison of two positioning results after each visual positioning, and performs real-time visual positioning if RFID positioning fails. On one hand, the problem that RFID positioning is invalid due to the fact that the RFID label is discarded or breaks down is effectively solved through the reliability and the accuracy of visual positioning, on the other hand, the problems that the visual positioning is large in calculation amount, high in operation cost and low in processing speed can be effectively solved through combination of RFID positioning, and the positioning precision is improved while the timeliness is improved. The method is particularly suitable for positioning the visitor and other personnel in the scenes such as company rooms, factories and the like.
Preferably, the positioning server divides the positioning area into a plurality of sub-areas according to the area of the positioning area, the distribution of the RFID readers and the distribution of the cameras.
Preferably, the positioning server further performs feature extraction on the pedestrian to be positioned from a multi-frame image continuously acquired by the camera when the pedestrian to be positioned enters the positioning area, and associates and records the obtained feature of the pedestrian to be positioned and the identification number in the RFID tag corresponding to the pedestrian to be positioned. By adopting the preferred mode, when a plurality of pedestrians to be positioned exist in a certain positioning area at the same time, the correctness of subsequent steps such as comparison objects in comparison of positioning results, judgment of whether the RFID positioning corresponding to the pedestrians to be positioned is effective and the like can be ensured.
Preferably, the positioning server further sends out an RFID positioning failure alarm corresponding to the pedestrian to be positioned after judging that the visual positioning result and the RFID positioning result at the same time are not in the same sub-region. By adopting the optimal mode, the positioning server can automatically give an alarm for the pedestrian to be positioned corresponding to the RFID positioning failure, so that the positioning monitoring personnel can find the RFID positioning failure condition in time and take corresponding measures.
Preferably, after the positioning server judges that the visual positioning result and the RFID positioning result at the same time are not in the same sub-region, the positioning server further calculates the visual positioning result of the pedestrian to be positioned at each time from the moment when the pedestrian enters the positioning region to the current time according to the historical image data of the image shot by the camera, and draws the motion track of the pedestrian to be positioned. By adopting the optimal mode, the positioning server can automatically draw the movement track of the pedestrian to be positioned from the position area after judging that the RFID positioning fails, and the positioning monitoring personnel can check the movement track of the pedestrian to be positioned corresponding to the RFID positioning failure in time and take corresponding measures.
The invention has the following beneficial effects:
the technical scheme of the invention can give consideration to positioning precision and positioning speed, can avoid the situation that the RFID cannot be positioned when the positioning is invalid, and is particularly suitable for positioning the personnel such as visitors in the scenes such as company rooms, factories and the like.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings;
fig. 1 shows a flowchart of a pedestrian positioning method according to an embodiment of the present invention.
Fig. 2 shows a schematic diagram of a pedestrian positioning system provided by an embodiment of the invention.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a pedestrian positioning method, including the steps of:
s1, dividing the positioning area into a plurality of sub-areas, and registering the coordinate systems of the RFID positioning system and the visual positioning system into the same world coordinate system;
s2, performing RFID positioning on the pedestrian to be positioned in real time based on an RFID positioning system; based on a visual positioning system, carrying out visual positioning on the pedestrian to be positioned at set time intervals;
s3, judging whether the visual positioning result and the RFID positioning result at the same time are in the same sub-area:
if yes, judging that the RFID positioning is effective, and turning to the step S2;
if not, judging that the RFID positioning is invalid, and turning to the step S4;
and S4, visually positioning the pedestrian to be positioned in real time based on the visual positioning system.
The pedestrian positioning method provided by the embodiment organically combines visual positioning and RFID positioning, firstly carries out real-time RFID positioning and interval visual positioning, judges whether the RFID positioning is effective or not through comparison of two positioning results after each visual positioning, and carries out real-time visual positioning if the RFID positioning fails. On one hand, the problem that RFID positioning is invalid due to the fact that the RFID label is discarded or breaks down is effectively solved through the reliability and the accuracy of visual positioning, on the other hand, the problems that the visual positioning is large in calculation amount, high in operation cost and low in processing speed can be effectively solved through combination of RFID positioning, and the positioning precision is improved while the timeliness is improved. The method is particularly suitable for positioning the visitor and other personnel in the scenes such as company rooms, factories and the like.
It should be noted that the principle of RFID positioning is to measure and calculate the transmission distance of electromagnetic waves, and the RFID positioning algorithm can be divided into a ranging-based RFID positioning mechanism and a non-ranging-based RFID positioning mechanism, where the ranging positioning mechanism includes TOA, TDOA, AOA, RSSI and other positioning methods, and the non-ranging positioning mechanism includes centroid positioning, APIT, KNN and other positioning methods. The embodiment does not limit the specific positioning algorithm adopted by the RFID positioning system. In addition, the vision positioning system can perform data processing based on image algorithms, such as target feature identification to be positioned, feature tracking, pose estimation and the like on the image shot by the camera, so as to realize the positioning of the target to be positioned. The present embodiment also does not limit the specific image algorithm employed by the visual positioning system.
In some optional implementations of this embodiment, the dividing the positioning region into a plurality of sub-regions further includes: and dividing the positioning area into a plurality of sub-areas according to factors such as the area of the positioning area, the distribution condition of RFID readers in the RFID positioning system, the distribution condition of cameras in the visual positioning system and the like. The areas, shapes and the like of the sub-regions can be the same or different, and the specific dividing mode is designed according to the factors and the actual needs. In addition, each sub-region can be numbered after the positioning region is divided into a plurality of sub-regions, so that subsequent judgment is facilitated.
In some optional implementations of this embodiment, step S1 further includes:
and carrying out feature extraction on the pedestrian to be positioned by the vision positioning system on the multi-frame images continuously acquired when the pedestrian to be positioned enters the positioning area, and carrying out associated recording on the obtained features of the pedestrian to be positioned and the RFID identification number corresponding to the pedestrian to be positioned. The number of specific frames of the multi-frame image may be determined according to a specific feature extraction method, and may be set to about 10 frames. By adopting the implementation mode, when a plurality of pedestrians to be positioned exist in a certain positioning area at the same time, the correctness of subsequent steps such as comparison objects in comparison of positioning results, judgment of effectiveness of RFID positioning corresponding to the pedestrians to be positioned and the like can be ensured.
In some optional implementations of this embodiment, step S4 further includes: and sending out an RFID positioning failure alarm corresponding to the pedestrian to be positioned. By adopting the implementation mode, the pedestrian to be positioned corresponding to the RFID positioning failure can be automatically alarmed, so that the positioning monitoring personnel can find the RFID positioning failure condition in time and take corresponding measures, for example, the security personnel is dispatched to check whether the RFID label of the pedestrian to be positioned is intact and the like.
In some optional implementations of this embodiment, step S4 further includes: based on the visual positioning system, calculating a visual positioning result of the pedestrian to be positioned at each moment from the moment the pedestrian enters the positioning area to the current moment according to historical image data of the visual positioning system, and drawing a motion track of the pedestrian to be positioned. By adopting the implementation mode, after the RFID positioning failure is judged, the movement track of the pedestrian to be positioned from the position area is automatically drawn, and the positioning monitoring personnel can check the movement track of the pedestrian to be positioned corresponding to the RFID positioning failure in time and take corresponding measures, for example, the possibility that a confidential area such as a confidential research and development room or a production workshop is invaded is judged according to the movement track, and measures such as alarming or sending security personnel to check the confidential area are taken according to the possibility.
In some alternative implementations of this embodiment, the set time interval is set to 50s-70s, and most preferably to 60 s. By adopting the implementation mode, the overall calculation amount and the operation cost can be reduced under the condition of ensuring the timeliness of judging whether the RFID positioning is effective or not. In the following, taking the set time interval as 60s as an example, the determination of whether the visual positioning result and the RFID positioning result at the same time are in the same sub-area is described, for example, when visual positioning is performed at point 09, point 02, and point 09, point 03, and point … …, after visual positioning is performed at point 09, point 01, it is determined whether the visual positioning result at point 09, point 01, and the RFID positioning result at point 09, point 01, are in the same sub-area, and so on.
As shown in fig. 2, another embodiment of the present invention provides a pedestrian positioning system, including: the positioning system comprises a positioning server, an RFID tag worn on a pedestrian to be positioned, and a plurality of cameras and a plurality of RFID readers-writers distributed in a positioning area;
the positioning server divides a positioning area into a plurality of sub-areas, and coordinates of the RFID positioning system and the visual positioning system are registered into the same world coordinate system; according to the information in the RFID tag received by the RFID reader-writer, performing RFID positioning on the pedestrian to be positioned in real time; carrying out visual positioning on the pedestrian to be positioned at set time intervals according to the image shot by the camera; judging whether the visual positioning result and the RFID positioning result at the same moment are in the same sub-area: if yes, judging that the RFID positioning is effective, continuously performing RFID positioning on the pedestrian to be positioned in real time and performing visual positioning on the pedestrian to be positioned at set time intervals; and if not, judging that the RFID positioning is invalid, and carrying out visual positioning on the pedestrian to be positioned in real time according to the image shot by the camera.
It should be noted that the positioning server can also be split into three servers, namely, a master control server, an RFID positioning server and a visual positioning server, then the RFID positioning server, the RFID tag and the RFID reader constitute an RFID positioning system, the visual positioning server and the camera constitute a visual positioning system,
the master control server divides the positioning area into a plurality of sub-areas and registers the coordinate systems of the RFID positioning system and the visual positioning system into the same world coordinate system;
the RFID positioning server is used for performing RFID positioning on the pedestrian to be positioned in real time according to the information in the RFID tag received by the RFID reader-writer, namely the RFID positioning system performs RFID positioning on the pedestrian to be positioned in real time;
the visual positioning server is used for carrying out visual positioning on the pedestrian to be positioned at a set time interval according to the image shot by the camera, namely the visual positioning system carries out visual positioning on the pedestrian to be positioned at the set time interval;
the master control server judges whether the visual positioning result and the RFID positioning result at the same moment are in the same sub-area: if yes, the RFID positioning is judged to be effective, the RFID positioning system is continuously controlled to carry out RFID positioning on the pedestrian to be positioned in real time, and the visual positioning system is controlled to carry out visual positioning on the pedestrian to be positioned at set time intervals; if not, the RFID positioning is judged to be invalid, and the vision positioning system is controlled to perform vision positioning on the pedestrian to be positioned in real time.
In some optional implementation manners of this embodiment, the positioning server divides the positioning area into a plurality of sub-areas according to factors such as an area of the positioning area, a distribution condition of the RFID readers, a distribution condition of the cameras, and the like.
In some optional implementation manners of this embodiment, the positioning server further performs feature extraction on the to-be-positioned pedestrian from a multi-frame image continuously acquired by the camera when the to-be-positioned pedestrian enters the positioning area, and associates and records the obtained feature of the to-be-positioned pedestrian and the identification number in the RFID tag corresponding to the to-be-positioned pedestrian. It should be noted that the RFID tag has a unique identification code, and the information in the RFID tag received by the RFID reader includes the unique identification code.
In some optional implementation manners of this embodiment, the positioning server further sends out an RFID positioning failure alarm corresponding to the pedestrian to be positioned after determining that the visual positioning result and the RFID positioning result at the same time are not in the same sub-region.
In some optional implementation manners of this embodiment, after it is determined that the visual positioning result and the RFID positioning result at the same time are not in the same sub-region, the positioning server further calculates a visual positioning result at each time from when the pedestrian to be positioned enters the positioning region to the current time according to historical image data of the image shot by the camera, and draws a motion trajectory of the pedestrian to be positioned. The historical image data of the images shot by the camera can be stored in the memory of the server, or can be stored in the memory of the camera and called by the server when needed. It will be appreciated that the memory in the camera or server may be an integrated local storage device, or an extended storage device, such as: a removable memory card, etc., and this embodiment is not particularly limited thereto.
It should be noted that the principle and the working flow of the pedestrian positioning system provided in this embodiment are similar to those of the pedestrian positioning method, and reference may be made to the above description for relevant points, which are not described herein again.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It is further noted that, in the description of the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations and modifications can be made on the basis of the above description, and all embodiments cannot be exhaustive, and all obvious variations and modifications belonging to the technical scheme of the present invention are within the protection scope of the present invention.
Claims (10)
1. A pedestrian positioning method, comprising the steps of:
s1, dividing the positioning area into a plurality of sub-areas, and registering the coordinate systems of the RFID positioning system and the visual positioning system into the same world coordinate system;
s2, performing RFID positioning on the pedestrian to be positioned in real time based on an RFID positioning system; based on a visual positioning system, carrying out visual positioning on the pedestrian to be positioned at set time intervals;
s3, judging whether the visual positioning result and the RFID positioning result at the same time are in the same sub-area:
if yes, judging that the RFID positioning is effective, and turning to the step S2;
if not, judging that the RFID positioning is invalid, and turning to the step S4;
and S4, visually positioning the pedestrian to be positioned in real time based on the visual positioning system.
2. The pedestrian positioning method of claim 1, wherein the dividing the positioning area into a plurality of sub-areas further comprises: and dividing the positioning area into a plurality of sub-areas according to the area of the positioning area, the distribution condition of RFID readers in the RFID positioning system and the distribution condition of cameras in the visual positioning system.
3. The pedestrian positioning method according to claim 1, wherein step S1 further includes:
and carrying out feature extraction on the pedestrian to be positioned by the vision positioning system on the multi-frame images continuously acquired when the pedestrian to be positioned enters the positioning area, and carrying out associated recording on the obtained features of the pedestrian to be positioned and the RFID identification number corresponding to the pedestrian to be positioned.
4. The pedestrian positioning method according to claim 1, wherein step S4 further includes: and sending out an RFID positioning failure alarm corresponding to the pedestrian to be positioned.
5. The pedestrian positioning method according to claim 1, wherein step S4 further includes: based on the visual positioning system, calculating a visual positioning result of the pedestrian to be positioned at each moment from the moment the pedestrian enters the positioning area to the current moment according to historical image data of the visual positioning system, and drawing a motion track of the pedestrian to be positioned.
6. A pedestrian positioning system, comprising: the positioning system comprises a positioning server, an RFID tag worn on a pedestrian to be positioned, and a plurality of cameras and a plurality of RFID readers-writers distributed in a positioning area;
the positioning server divides a positioning area into a plurality of sub-areas, and coordinates of the RFID positioning system and the visual positioning system are registered into the same world coordinate system; according to the information in the RFID tag received by the RFID reader-writer, performing RFID positioning on the pedestrian to be positioned in real time; carrying out visual positioning on the pedestrian to be positioned at set time intervals according to the image shot by the camera; judging whether the visual positioning result and the RFID positioning result at the same moment are in the same sub-area: if yes, judging that the RFID positioning is effective, continuously performing RFID positioning on the pedestrian to be positioned in real time and performing visual positioning on the pedestrian to be positioned at set time intervals; and if not, judging that the RFID positioning is invalid, and carrying out visual positioning on the pedestrian to be positioned in real time according to the image shot by the camera.
7. The pedestrian positioning system of claim 6, wherein the positioning server divides the positioning area into a plurality of sub-areas according to the area of the positioning area, the distribution of the RFID readers and the distribution of the cameras.
8. The pedestrian positioning system according to claim 6, wherein the positioning server further performs feature extraction of the pedestrian to be positioned on a multi-frame image continuously acquired by the camera when the pedestrian to be positioned enters the positioning area, and associates and records the obtained feature of the pedestrian to be positioned and the identification number in the RFID tag corresponding to the pedestrian to be positioned.
9. The pedestrian positioning system of claim 6, wherein the positioning server further issues an RFID positioning failure alarm corresponding to the pedestrian to be positioned after determining that the visual positioning result and the RFID positioning result at the same time are not in the same sub-region.
10. The pedestrian positioning system according to claim 6, wherein the positioning server further calculates the visual positioning result of the pedestrian to be positioned at each time from the moment the pedestrian enters the positioning area to the current time according to the historical image data of the image shot by the camera after judging that the visual positioning result and the RFID positioning result at the same time are not in the same sub-area, and draws the motion track of the pedestrian to be positioned.
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