CN110503047A - A kind of rds data processing method and processing device based on machine learning - Google Patents

A kind of rds data processing method and processing device based on machine learning Download PDF

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CN110503047A
CN110503047A CN201910790311.5A CN201910790311A CN110503047A CN 110503047 A CN110503047 A CN 110503047A CN 201910790311 A CN201910790311 A CN 201910790311A CN 110503047 A CN110503047 A CN 110503047A
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interest
processed
picture
sample set
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杨长卫
廖峪
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Chengdu Nbk Technology Co Ltd
Southwest Jiaotong University
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Chengdu Nbk Technology Co Ltd
Southwest Jiaotong University
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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06NCOMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
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    • G06COMPUTING; CALCULATING OR COUNTING
    • G06NCOMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00Arrangements for image or video recognition or understanding
    • G06V10/20Image preprocessing
    • G06V10/25Determination of region of interest [ROI] or a volume of interest [VOI]
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/40Scenes; Scene-specific elements in video content
    • G06V20/46Extracting features or characteristics from the video content, e.g. video fingerprints, representative shots or key frames
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/50Context or environment of the image
    • G06V20/52Surveillance or monitoring of activities, e.g. for recognising suspicious objects

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Abstract

The present invention provides a kind of rds data processing method and processing device based on machine learning, the method includes obtaining pictures to be processed, intercepts and obtains in the video flowing that the picture to be processed is shot by the camera being laid in around rail;Each picture to be processed in the pictures to be processed is inputted into preset image processing model to obtain the area-of-interest recommendation results of the picture to be processed, the area-of-interest recommendation results include area-of-interest and the corresponding index interested of area-of-interest in picture to be processed;Obtain the post analysis preprocessing rule of pictures to be processed;The corresponding Target Photo of each picture to be processed is obtained according to the area-of-interest recommendation results of post analysis preprocessing rule and each picture to be processed and then obtains Target Photo collection.Present invention is particularly suitable for the information in analysis below around depth excavation railway, reaches and reduced the region that rds data information loses and avoids analysis richness low, promoted the purpose of analysis efficiency.

Description

A kind of rds data processing method and processing device based on machine learning
Technical field
The present invention relates to railway territory more particularly to a kind of rds data processing method and processing devices based on machine learning.
Background technique
With the growth and video technique of railway video monitoring business, the hair of Internet technology and Intellectual Analysis Technology Exhibition, produces a large amount of image datas comprising Railway Environment information, and the image data of magnanimity automatically analyzes and information excavating Importance is increasingly prominent, correspondingly, be it is still inadequate to the automatic processing ability of rds data in the prior art, therefore, produce The loss of a large amount of Railway Environment information has been given birth to, and the automatic processing of rds data is embodied in the automatic metaplasia of area-of-interest At many aspects such as area-of-interest automated analysis and analysis result are comprehensive.
Summary of the invention
The technical issues of in order to solve automatic processing scarce capacity to rds data in the prior art, is realized interested The automation in region generates, in order to realize magnanimity image data primary dcreening operation, the present invention provides a kind of based on machine learning Rds data processing method and processing device.
The present invention is realized with following technical solution:
A kind of rds data processing method based on machine learning, which comprises
Pictures to be processed are obtained, in the video flowing that the picture to be processed is shot by the camera being laid in around rail Interception obtains;
It is described to obtain that each picture to be processed in the pictures to be processed is inputted into preset image processing model The area-of-interest recommendation results of picture to be processed, the area-of-interest recommendation results include interested in picture to be processed Region and the corresponding index interested of area-of-interest;
Obtain the post analysis preprocessing rule of pictures to be processed;
It is obtained according to the area-of-interest recommendation results of the post analysis preprocessing rule and each picture to be processed each The corresponding Target Photo of picture to be processed;
The corresponding Target Photo collection of the pictures to be processed is obtained according to the corresponding Target Photo of each picture to be processed.
Preferably, further include the steps that training image handles model, the training image handles model, comprising:
Construct training sample set, the training sample set includes and positive example sample set and negative example sample set the positive example sample This collection is by the sample set including area-of-interest annotation results, and the negative example sample set is in the camera shooting being laid in around rail The sample set for not being marked area-of-interest is randomly selected in the video flowing of head shooting, the area-of-interest annotation results include The index interested of area-of-interest and area-of-interest;
It is described to obtain that feature extraction is carried out to each training sample that the training sample is concentrated based on feature extractor The corresponding sample characteristics collection of training sample set;
The sample characteristics collection is inputted into preset deep learning network model, it is defeated according to the deep learning network model The area-of-interest recommendation results of each sample out, according to sample described in the area-of-interest recommendation results of each sample The penalty values between the area-of-interest for being labeled out are concentrated to adjust the parameter of the deep learning network model to obtain figure As processing model.
Preferably, described to recommend to tie according to the area-of-interest of the post analysis preprocessing rule and each picture to be processed Fruit obtains the corresponding Target Photo of each picture to be processed, comprising:
Obtain each area-of-interest and the corresponding index interested of the area-of-interest of picture to be processed;
Count the quantity of the area-of-interest;
If the quantity is greater than preset first threshold, according to the index interested of each area-of-interest and interested The different degree of the areal calculation area-of-interest in region;
Processing is successively carried out to area-of-interest according to different degree descending order interested until area-of-interest sum etc. Until preset first threshold.
Preferably, the different degree of the area-of-interest can by the weighted value of index interested and area-of-interest come Characterization.
Preferably, it is described to area-of-interest carry out processing include, comprising:
If the index interested of the area-of-interest is lower than preset third threshold value, the area-of-interest is deleted;
If the index interested of the area-of-interest is not less than preset third threshold value, the area-of-interest is obtained Adjacent other area-of-interests, and select the highest region of index interested as target in other area-of-interests Region;
The area-of-interest is merged into the target area.
A kind of rds data processing unit based on machine learning, described device include:
Picture module to be processed, for obtaining pictures to be processed, the picture to be processed is by being laid in around rail It intercepts and obtains in the video flowing of camera shooting;
Area-of-interest recommendation results obtain module, for each picture to be processed in the pictures to be processed is defeated Enter preset image processing model to obtain the area-of-interest recommendation results of the picture to be processed, the area-of-interest pushes away Recommending result includes the area-of-interest and the corresponding index interested of area-of-interest in picture to be processed;
Post analysis preprocessing rule obtains module, for obtaining the post analysis preprocessing rule of pictures to be processed;
Processing module, for being recommended according to the area-of-interest of the post analysis preprocessing rule and each picture to be processed As a result the corresponding Target Photo of each picture to be processed is obtained;
Target Photo collection obtains module, described to be processed for being obtained according to the corresponding Target Photo of each picture to be processed The corresponding Target Photo collection of pictures.
It preferably, further include model training module, the model training module includes:
Training sample set construction unit, for constructing training sample set, the training sample set includes and positive example sample set With negative example sample set, the positive example sample set is by the sample set including area-of-interest annotation results, the negative example sample set To randomly select the sample set for not being marked area-of-interest, institute in the video flowing for the camera shooting being laid in around rail State the index interested that area-of-interest annotation results include area-of-interest and area-of-interest;
Sample characteristics collection acquiring unit, each training sample for being concentrated based on feature extractor to the training sample Feature extraction is carried out to obtain the corresponding sample characteristics collection of the training sample set;
Image processing model generation unit, for the sample characteristics collection to be inputted preset deep learning network model, According to the area-of-interest recommendation results of each sample of deep learning network model output, according to each sample Penalty values between the area-of-interest for being labeled out in sample set described in area-of-interest recommendation results adjust the depth The parameter of learning network model is to obtain image processing model.
Preferably, the processing module, comprising:
Index acquiring unit interested, for obtaining each area-of-interest and the area-of-interest of picture to be processed Corresponding index interested;
Quantity statistics unit, for counting the quantity of the area-of-interest;
Different degree computing unit, if being greater than preset first threshold for the quantity, according to each area-of-interest Index and area-of-interest interested areal calculation area-of-interest different degree;
Area-of-interest processing unit, for successively locating according to different degree descending order interested to area-of-interest Reason is until area-of-interest sum is equal to preset first threshold.
The beneficial effects of the present invention are:
A kind of rds data processing method and processing device based on machine learning can shoot the camera around rail Obtained picture to be processed carries out the full-automatic identification and full automatic treatment of area-of-interest, and obtains Target Photo.The mesh The area-of-interest in piece of marking on a map meets the requirement of post analysis rule, the Railway Environment abundant information degree that area-of-interest includes Height, and area-of-interest fragment is less, so that it is particularly suitable for the information in analysis below around depth excavation railway, Reach and reduced the region that rds data information loses and avoids analysis richness low, has promoted the purpose of analysis efficiency.
Detailed description of the invention
Fig. 1 is a kind of rds data processing method flow chart based on machine learning provided in this embodiment;
Fig. 2 is the region of interest provided in this embodiment according to the post analysis preprocessing rule and each picture to be processed Domain recommendation results obtain the corresponding Target Photo flow chart of each picture to be processed;
Fig. 3 is a kind of rds data processing unit block diagram based on machine learning provided in this embodiment.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing Step ground detailed description.
Embodiment 1:
The embodiment of the present invention discloses a kind of rds data processing method based on machine learning, as shown in Figure 1, the method Include:
S101. pictures to be processed, the view that the picture to be processed is shot by the camera being laid in around rail are obtained It intercepts and obtains in frequency stream.
S103. each picture to be processed in the pictures to be processed is inputted into preset image processing model to obtain The area-of-interest recommendation results of the picture to be processed, the area-of-interest recommendation results include the sense in picture to be processed Interest region and the corresponding index interested of area-of-interest.
Specifically, the preset image processing model can be used existing machine mould and be obtained by training.This Inventive embodiments disclose the training method of one of machine mould, as shown in Figure 2, which comprises
S1. training sample set is constructed, the training sample set includes and positive example sample set and negative example sample set the positive example Sample set is by the sample set including area-of-interest annotation results, and the negative example sample set is to be laid in taking the photograph around rail The sample set for not being marked area-of-interest, the area-of-interest annotation results packet are randomly selected in the video flowing shot as head Include the index interested of area-of-interest and area-of-interest.
S3. feature extraction is carried out to each training sample that the training sample is concentrated to obtain based on feature extractor State the corresponding sample characteristics collection of training sample set.
Specifically, the feature extractor includes sequentially connected picture input layer, the first convolution process layer, the first pond Layer, the second convolution process layer, the second pond layer, full articulamentum and normalization layer.Wherein, the feature extractor uses existing Machine learning algorithm training obtains, and the embodiment of the present invention does not repeat them here.The embodiment of the present invention is, it is emphasized that in order to which Enhanced feature mentions Effect is taken, the embodiment of the present invention improves the loss function of the feature extractor, increases to reach for one The purpose of the difference of each characteristic pattern of the output of feature extractor described in the picture of input.
The loss function of the embodiment of the present invention can be obtained by adding selection item on primary loss functional foundations, institute It states the loss that each characteristic pattern that selection item is used to export feature extractor generates to be adjusted, so that it is big to increase generation loss Characteristic pattern influence power.
In a feasible embodiment, the loss function of the embodiment of the present invention can be represented asWherein α, β, M, δiThe weight for respectively indicating control selection degree, can To be set according to actual needs;Parameter is selected, can be a lesser numerical value, such as 0.025;Second process of convolution The number of the characteristic pattern of layer output;The characteristic pattern in i-th of channel that the second convolution process layer generates is being completely used for described in training Average activity in the sample of feature extractor.Wherein LlostConcrete form for the loss function of script, loss function can To refer to the prior art, the embodiment of the present invention is not repeated them here, for example, it can beWherein sum, Out(s1),T(s1) it is total sample number, the output label corresponding with some sample that some sample generates, wherein for determining Label is given value for training set and machine mould.
Further, the characteristic pattern that the embodiment of the present invention provides i-th of channel is being completely used for training the feature extraction The calculation method of average activity in the sample of device, which comprises
S10. each sample is obtained in whole feature set of graphs of each channel output of the second convolution process layer.
S30. the feature atlas in i-th of channel is obtained according to whole feature set of graphs, the feature atlas is described Source is the set of the characteristic pattern composition in i-th of channel of the second convolution process layer in All Eigenvalues set.
S50. the pixel of each characteristic pattern is concentrated to be integrated respectively along X direction and y direction to obtain the characteristic pattern To activity.
S70. it is being completely used for training the spy divided by the characteristic pattern that total sample number obtains i-th of channel by the activity Levy the average activity in the sample of extractor.
S5. the sample characteristics collection is inputted into preset deep learning network model, according to the deep learning network mould The area-of-interest recommendation results of each sample of type output, according to the area-of-interest recommendation results of each sample The penalty values between area-of-interest for being labeled out in sample set adjust the parameter of the deep learning network model to obtain To image processing model.
Specifically, the sense including area-of-interest and the area-of-interest in the area-of-interest recommendation results is emerging Interesting index.
S105. the post analysis preprocessing rule of pictures to be processed is obtained.
S107. it is obtained according to the area-of-interest recommendation results of the post analysis preprocessing rule and each picture to be processed The corresponding Target Photo of each picture to be processed.
S109. the corresponding target figure of the pictures to be processed is obtained according to the corresponding Target Photo of each picture to be processed Piece collection.
Specifically, during analyzing Target Photo collection in the later period, the Target Photo of Target Photo concentration is needed Meeting post analysis rule can make analysis process smoothly execute, for example, the number of the area-of-interest in each Target Photo Amount cannot be less than preset second threshold no more than preset first threshold, the area of each area-of-interest, and each sense is emerging The index interested in interesting region cannot be below preset third threshold value.
Correspondingly, for handling the area-of-interest recommendation results of each picture to be processed, so that it is corresponded to Target Photo meet post analysis rule processing rule be the embodiment of the present invention in post analysis preprocessing rule.
In a feasible embodiment, the sense according to the post analysis preprocessing rule and each picture to be processed Interest region recommendation results obtain the corresponding Target Photo of each picture to be processed, as shown in Figure 2, comprising:
S1071. each area-of-interest and the corresponding index interested of the area-of-interest of picture to be processed are obtained.
S1072. the quantity of the area-of-interest is counted.
If S1073. the quantity is greater than preset first threshold, according to the index interested of each area-of-interest and The different degree of the areal calculation area-of-interest of area-of-interest.
Specifically, the different degree of the area-of-interest can by the weighted value of index interested and area-of-interest come Characterization.
S1074. processing is successively carried out to area-of-interest until area-of-interest according to different degree descending order interested Until sum is equal to preset first threshold.
Specifically, carrying out processing to area-of-interest includes:
If S10741. the index interested of the area-of-interest is lower than preset third threshold value, it is emerging to delete the sense Interesting region.
If S10743. the index interested of the area-of-interest is not less than preset third threshold value, the sense is obtained The adjacent other area-of-interests in interest region, and the highest region of index interested is selected in other area-of-interests As target area.
S10745. the area-of-interest is merged into the target area.
The rds data processing method based on machine learning that the embodiment of the invention discloses a kind of, so as to for rail The picture to be processed that the camera of surrounding is shot carries out the full-automatic identification and full automatic treatment of area-of-interest, and obtains Target Photo.Area-of-interest in the Target Photo meets the requirement of post analysis rule, the iron that area-of-interest includes Road environmental information richness is high, and area-of-interest fragment is less, digs to be particularly suitable for the depth in analysis below The information around railway is dug, has reached and has reduced the region that rds data information loses and avoids analysis richness low, promotion point Analyse the purpose of efficiency.
The rds data processing unit based on machine learning that the present invention also provides a kind of, as shown in figure 3, described device packet It includes:
Picture module 201 to be processed, for obtaining pictures to be processed, the picture to be processed is by being laid in around rail Camera shooting video flowing in intercept and obtain;
Area-of-interest recommendation results obtain module 203, for by each figure to be processed in the pictures to be processed Piece inputs preset image processing model to obtain the area-of-interest recommendation results of the picture to be processed, the region of interest Domain recommendation results include area-of-interest and the corresponding index interested of area-of-interest in picture to be processed;
Post analysis preprocessing rule obtains module 205, for obtaining the post analysis preprocessing rule of pictures to be processed;
Processing module 207, for the area-of-interest according to the post analysis preprocessing rule and each picture to be processed Recommendation results obtain the corresponding Target Photo of each picture to be processed;
Target Photo collection obtains module 209, for according to the corresponding Target Photo of each picture to be processed obtain it is described to Handle the corresponding Target Photo collection of pictures.
It specifically, further include model training module, the model training module includes:
Training sample set construction unit, for constructing training sample set, the training sample set includes and positive example sample set With negative example sample set, the positive example sample set is by the sample set including area-of-interest annotation results, the negative example sample set To randomly select the sample set for not being marked area-of-interest, institute in the video flowing for the camera shooting being laid in around rail State the index interested that area-of-interest annotation results include area-of-interest and area-of-interest;
Sample characteristics collection acquiring unit, each training sample for being concentrated based on feature extractor to the training sample Feature extraction is carried out to obtain the corresponding sample characteristics collection of the training sample set;
Image processing model generation unit, for the sample characteristics collection to be inputted preset deep learning network model, According to the area-of-interest recommendation results of each sample of deep learning network model output, according to each sample Penalty values between the area-of-interest for being labeled out in sample set described in area-of-interest recommendation results adjust the depth The parameter of learning network model is to obtain image processing model.
Specifically, the processing module, comprising:
Index acquiring unit interested, for obtaining each area-of-interest and the area-of-interest of picture to be processed Corresponding index interested;
Quantity statistics unit, for counting the quantity of the area-of-interest;
Different degree computing unit, if being greater than preset first threshold for the quantity, according to each area-of-interest Index and area-of-interest interested areal calculation area-of-interest different degree;
Area-of-interest processing unit, for successively locating according to different degree descending order interested to area-of-interest Reason is until area-of-interest sum is equal to preset first threshold.
A kind of rds data processing unit based on machine learning disclosed by the embodiments of the present invention is based on embodiment of the method Identical inventive concept.
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.

Claims (8)

1. a kind of rds data processing method based on machine learning, which is characterized in that the described method includes:
Pictures to be processed are obtained, are intercepted in the video flowing that the picture to be processed is shot by the camera being laid in around rail It obtains;
It is described wait locate to obtain that each picture to be processed in the pictures to be processed is inputted into preset image processing model The area-of-interest recommendation results of picture are managed, the area-of-interest recommendation results include the area-of-interest in picture to be processed And the corresponding index interested of area-of-interest;
Obtain the post analysis preprocessing rule of pictures to be processed;
It is obtained according to the area-of-interest recommendation results of the post analysis preprocessing rule and each picture to be processed each wait locate Manage the corresponding Target Photo of picture;
The corresponding Target Photo collection of the pictures to be processed is obtained according to the corresponding Target Photo of each picture to be processed.
2. the method according to claim 1, wherein further including the steps that training image handles model, the instruction Practice image processing model, comprising:
Construct training sample set, the training sample set includes and positive example sample set and negative example sample set the positive example sample set For by the sample set including area-of-interest annotation results, the negative example sample set is to clap in the camera being laid in around rail The sample set for not being marked area-of-interest is randomly selected in the video flowing taken the photograph, the area-of-interest annotation results include feeling emerging The index interested of interesting region and area-of-interest;
Feature extraction is carried out to obtain the training to each training sample that the training sample is concentrated based on feature extractor The corresponding sample characteristics collection of sample set;
The sample characteristics collection is inputted into preset deep learning network model, according to deep learning network model output The area-of-interest recommendation results of each sample, according in sample set described in the area-of-interest recommendation results of each sample The penalty values between area-of-interest for being labeled out adjust the parameter of the deep learning network model to obtain at image Manage model.
3. according to the method described in claim 2, it is characterized in that, it is described according to the post analysis preprocessing rule and it is each to The area-of-interest recommendation results of processing picture obtain the corresponding Target Photo of each picture to be processed, comprising:
Obtain each area-of-interest and the corresponding index interested of the area-of-interest of picture to be processed;
Count the quantity of the area-of-interest;
If the quantity is greater than preset first threshold, according to the index and area-of-interest interested of each area-of-interest Areal calculation area-of-interest different degree;
Processing is successively carried out to area-of-interest according to different degree descending order interested until area-of-interest sum is equal in advance If first threshold until.
4. according to the method described in claim 3, it is characterized by:
The different degree of the area-of-interest can be characterized by the weighted value of index interested and area-of-interest.
5. according to the method described in claim 3, it is characterized in that, it is described to area-of-interest carry out processing include, comprising:
If the index interested of the area-of-interest is lower than preset third threshold value, the area-of-interest is deleted;
If the index interested of the area-of-interest is not less than preset third threshold value, it is adjacent to obtain the area-of-interest Other area-of-interests, and select the highest region of index interested as target area in other area-of-interests Domain;
The area-of-interest is merged into the target area.
6. a kind of rds data processing unit based on machine learning, which is characterized in that described device includes:
Picture module to be processed, for obtaining pictures to be processed, the picture to be processed is by the camera shooting that is laid in around rail It intercepts and obtains in the video flowing of head shooting;
Area-of-interest recommendation results obtain module, pre- for inputting each picture to be processed in the pictures to be processed If image processing model to obtain the area-of-interest recommendation results of the picture to be processed, the area-of-interest recommends knot Fruit includes area-of-interest and the corresponding index interested of area-of-interest in picture to be processed;
Post analysis preprocessing rule obtains module, for obtaining the post analysis preprocessing rule of pictures to be processed;
Processing module, for the area-of-interest recommendation results according to the post analysis preprocessing rule and each picture to be processed Obtain the corresponding Target Photo of each picture to be processed;
Target Photo collection obtains module, for obtaining the picture to be processed according to the corresponding Target Photo of each picture to be processed Collect corresponding Target Photo collection.
7. device according to claim 6, which is characterized in that it further include model training module, the model training module Include:
Training sample set construction unit, for constructing training sample set, the training sample set includes and positive example sample set and negative Example sample set, the positive example sample set be by the sample set including area-of-interest annotation results, the negative example sample set for It is laid in the video flowing of the camera shooting around rail and randomly selects the sample set for not being marked area-of-interest, the sense Interest region annotation results include the index interested of area-of-interest and area-of-interest;
Sample characteristics collection acquiring unit, for being carried out based on feature extractor to each training sample that the training sample is concentrated Feature extraction is to obtain the corresponding sample characteristics collection of the training sample set;
Image processing model generation unit, for the sample characteristics collection to be inputted preset deep learning network model, according to The area-of-interest recommendation results of each sample of the deep learning network model output, the sense according to each sample are emerging Penalty values between the area-of-interest for being labeled out in sample set described in interesting region recommendation results adjust the deep learning The parameter of network model is to obtain image processing model.
8. device according to claim 7, which is characterized in that the processing module, comprising:
Index acquiring unit interested, each area-of-interest and the area-of-interest for obtaining picture to be processed are corresponding Index interested;
Quantity statistics unit, for counting the quantity of the area-of-interest;
Different degree computing unit, if being greater than preset first threshold for the quantity, according to the sense of each area-of-interest The different degree of the areal calculation area-of-interest of interest index and area-of-interest;
Area-of-interest processing unit is straight for successively carrying out handling to area-of-interest according to different degree descending order interested Until area-of-interest sum is equal to preset first threshold.
CN201910790311.5A 2019-08-26 2019-08-26 A kind of rds data processing method and processing device based on machine learning Pending CN110503047A (en)

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CN111079819A (en) * 2019-12-12 2020-04-28 哈尔滨市科佳通用机电股份有限公司 Method for judging state of coupler knuckle pin of railway wagon based on image recognition and deep learning
CN111191059A (en) * 2019-12-31 2020-05-22 腾讯科技(深圳)有限公司 Image processing method, image processing device, computer storage medium and electronic equipment
CN111648174A (en) * 2020-06-01 2020-09-11 柳七峰 Automatic straightening equipment for rails
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Application publication date: 20191126