CN111784728A

CN111784728A - Track processing method, device, equipment and storage medium

Info

Publication number: CN111784728A
Application number: CN202010601902.6A
Authority: CN
Inventors: 王鹏宇
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd
Priority date: 2020-06-29
Filing date: 2020-06-29
Publication date: 2020-10-16
Anticipated expiration: 2040-06-29
Also published as: CN111784728B

Abstract

The application provides a track processing method, a device, equipment and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining at least two motion tracks collected by at least two collection devices in a target motion area of a target motion object, respectively mapping track points on the at least two motion tracks to grids corresponding to the target motion area, determining a motion grid set of the target motion object according to the number of the track points in each grid, the size of each grid and the motion speed of the target motion object, and performing smooth filtering processing on all the track points in the motion grid set to obtain a theoretical motion track of the target motion object. According to the technical scheme, aiming at the environment with a large amount of redundant track points and different precision of the same moving object, the data volume of track data is effectively reduced through the idea of grid division, the problem that the track data is inaccurate due to the fact that a plurality of moving tracks exist in the same object is solved, and the track precision of the moving object is improved.

Description

Track processing method, device, equipment and storage medium

Technical Field

The present application relates to the field of data processing technologies, and in particular, to a method, an apparatus, a device, and a storage medium for processing a track.

Background

For some important occasions, such as places like subways, banks, shopping malls, etc., a plurality of collecting devices are usually installed to collect the motion tracks of a certain moving object in the same place in all directions, so as to comprehensively know the motion information of the moving object.

In general, when a plurality of acquisition devices installed in the same place acquire data of the same moving object at the same time, the positioning accuracy of the acquisition devices may be low, so that the same moving object has a plurality of different tracks at the same time, and the track point redundancy causes the problem of inaccurate track. Thus, there is a need for a solution to the above problems.

Disclosure of Invention

The application provides a track processing method, a track processing device, track processing equipment and a storage medium, which are used for solving the problem that tracks are inaccurate when the same motion equipment corresponds to a plurality of motion tracks at the same moment.

In a first aspect, an embodiment of the present application provides a trajectory processing method, including:

acquiring at least two motion tracks acquired by at least two acquisition devices in a target motion area of a target motion object, wherein each motion track corresponds to one acquisition device;

respectively mapping track points on the at least two motion tracks to grids corresponding to the target motion area;

determining a motion grid set of the target motion object according to the number of track points in each grid, the size of the grid and the motion speed of the target motion object;

and performing smooth filtering processing on all track points in the motion grid set to obtain a theoretical motion track of the target motion object.

In a possible design of the first aspect, the determining a motion grid set of the target moving object according to the number of track points in each grid, the size of the grid, and the motion speed of the target moving object includes:

determining a first grid set according to the number of track points in each grid, wherein the number of the track points in each grid included in the first grid set is greater than or equal to a first number;

and determining a motion grid set of the target motion object in the first grid set according to the motion speed of the target motion object and the size of the grid based on the motion continuity characteristic.

In the above possible design of the first aspect, the performing a smoothing filtering process on all track points in the motion grid set to obtain a theoretical motion trajectory of the target moving object includes:

for each grid in the motion grid set, determining a track central point of the grid and coordinate information of the track central point according to the coordinate information of all track points in the grid;

processing the track central points of all the grids in the motion grid set based on a median filtering method and the coordinate information of each track central point to obtain theoretical motion track points of the target motion object;

and smoothing the theoretical motion track points of the target motion object to obtain the theoretical motion track of the target motion object.

In another possible design of the first aspect, before the mapping the track points on the at least two motion trajectories to the grids corresponding to the target motion area, the method further includes:

segmenting the at least two motion tracks based on preset time length to obtain a plurality of track segments;

the mapping the track points on the at least two motion tracks to the grids corresponding to the target motion area respectively includes:

and mapping the track points on the plurality of track segments into grids corresponding to the target motion areas respectively.

In yet another possible design of the first aspect, before the mapping the track points on the at least two motion trajectories into the grids corresponding to the target motion region, the method further includes:

determining abnormal track points on the at least two motion tracks, wherein the abnormal track points comprise at least one of the following: abrupt track points and track points with unreasonable positions on the motion track;

preprocessing the abnormal track points, wherein the preprocessing comprises any one of the following steps: marking and removing.

In the foregoing possible design of the first aspect, the determining the abnormal trajectory points on the at least two motion trajectories includes:

determining at least two track line segments corresponding to the time intersection part on the at least two motion tracks;

determining a movement distance corresponding to each track segment and an average movement distance corresponding to the at least two track segments according to the distance between two adjacent track points on each track segment;

sequentially connecting the track points on the at least two track segments based on the time sequence of the track points to obtain a composite track segment;

determining a synthetic motion distance corresponding to the synthetic track segment according to the distance between two adjacent track points on the synthetic track segment;

and determining abrupt track points existing on the at least two motion tracks according to the average motion distance corresponding to the at least two track segments and the synthetic motion distance corresponding to the synthetic track segment.

determining at least one fixed obstacle in the target motion region and a coordinate range of each fixed obstacle;

and determining track points with unreasonable positions on the at least two motion tracks according to whether the track points on the at least two motion tracks fall in the coordinate range of the at least one fixed obstacle.

In a second aspect, an embodiment of the present application provides a trajectory processing apparatus, including: the device comprises an acquisition module, a mapping module and a processing module;

the acquisition module is used for acquiring at least two motion tracks acquired by at least two acquisition devices in a target motion area of a target motion object, wherein each motion track corresponds to one acquisition device;

the mapping module is used for mapping track points on the at least two motion tracks to grids corresponding to the target motion area respectively;

and the processing module is used for determining a motion grid set of the target motion object according to the number of track points in each grid, the size of the grid and the motion speed of the target motion object, and performing smooth filtering processing on all track points in the motion grid set to obtain the theoretical motion track of the target motion object.

In a possible design of the second aspect, the processing module is configured to determine a motion mesh set of the target moving object according to the number of track points in each mesh, the size of the mesh, and the motion speed of the target moving object, specifically:

the processing module is specifically configured to:

In the above possible design of the second aspect, the processing module is configured to perform smooth filtering processing on all track points in the motion grid set to obtain a theoretical motion trajectory of the target motion object, and specifically:

the processing module is specifically configured to:

In another possible design of the second aspect, the processing module is further configured to segment the at least two motion trajectories based on a preset duration before the mapping module maps the trajectory points on the at least two motion trajectories to the grids corresponding to the target motion region, respectively, so as to obtain a plurality of trajectory segments;

the mapping module is specifically configured to map the track points on the plurality of track segments to grids corresponding to the target motion region respectively.

In yet another possible design of the second aspect, the processing module is further configured to determine abnormal track points on the at least two motion trajectories before the mapping module maps the track points on the at least two motion trajectories to the grids corresponding to the target motion region, where the abnormal track points include at least one of: abrupt change track point, the unreasonable track point in position on the motion trail, and to carry out the preliminary treatment to unusual track point, the preliminary treatment includes any one of following: marking and removing.

In the above possible design of the second aspect, the processing module is configured to determine abnormal track points on the at least two motion trajectories, and specifically:

the processing module is specifically configured to:

In a third aspect, the present application provides an electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method according to the first aspect and possible designs.

In a fourth aspect, the present application provides a computer-readable storage medium having stored therein instructions which, when run on a computer, cause the computer to perform the method according to the first aspect and possible designs.

According to the track processing method, the track processing device, the track processing equipment and the storage medium, at least two motion tracks acquired by at least two acquisition equipment in a target motion area of a target motion object are acquired, track points on the at least two motion tracks are respectively mapped into grids corresponding to the target motion area, a motion grid set of the target motion object is determined according to the number of the track points in each grid, the size of each grid and the motion speed of the target motion object, all the track points in the motion grid set are subjected to smooth filtering processing, and a theoretical motion track of the target motion object can be obtained. According to the technical scheme, aiming at the environment with a large amount of redundant track points and different precision of the same moving object, the data volume of track data is effectively reduced through the idea of grid division, the problem that the track data is inaccurate due to the fact that a plurality of moving tracks exist in the same object is solved, and the track precision of the moving object is improved.

Drawings

Fig. 1 is a schematic view of an application scenario of a trajectory processing method provided in an embodiment of the present application;

fig. 2 is a schematic flowchart of a first embodiment of a trajectory processing method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a grid corresponding to a target motion region in an embodiment of the present application;

fig. 4 is a distribution diagram of mapping of at least two motion trajectories of a target moving object into the grid shown in fig. 3 in the embodiment of the present application;

FIG. 5 is a schematic diagram of a motion grid set of a target moving object corresponding to the schematic diagram shown in FIG. 4;

fig. 6 is a schematic flowchart of a second embodiment of a trajectory processing method according to the present application;

fig. 7 is a schematic diagram illustrating a principle of processing the track center points of all grids in the motion grid set by using a median filtering method in the embodiment of the present application;

fig. 8 is a schematic flowchart of a third embodiment of a trajectory processing method according to the present application;

fig. 9 is a schematic flowchart of a fourth embodiment of a trajectory processing method according to the present application;

fig. 10 is a schematic flowchart of a fifth embodiment of a trajectory processing method according to an embodiment of the present application;

FIG. 11 is a schematic distribution diagram of at least two motion trajectories in an embodiment of the present application;

fig. 12 is a schematic flowchart of a sixth embodiment of a trajectory processing method according to an embodiment of the present application

FIG. 13 is a schematic diagram of a distribution of unreasonable location loci in an embodiment of the present application;

fig. 14 is a schematic structural diagram of a first track processing apparatus according to an embodiment of the present application;

fig. 15 is a schematic structural diagram of an electronic device for implementing a trajectory processing method according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Before the technical solution of the present application is introduced, the terms referred to in the embodiments of the present application are explained first:

(1) track segment: under the same coordinate system, using trajectory data (including coordinate information and time information) continuously collected by a data acquisition device and aiming at the same moving object to form a space-time coordinate sequence according to time sequence;

(2) high frequency, low frequency: in the embodiment of the application, the high frequency and the low frequency refer to the frequency (also called as an acquisition time interval) of acquiring the track data, namely how long the data acquisition equipment reports the data;

for example, for an indoor laser device, 24 acquisitions per second, can be considered high frequency; in the case of indoor accurate positioning, when the sampling interval is less than or equal to 2 seconds, the frequency of acquiring the trajectory data may also be considered as a high frequency.

(3) Median filtering: the realization principle is that the value of a point in a digital image or a digital sequence is replaced by the median value of each point value in a neighborhood of the point, and the surrounding pixel values are close to the true values, thereby eliminating the isolated noise point.

For example, for a number sequence composed of 10 points sequentially ordered, it is assumed that a neighborhood of the 5 th point is composed of 3 rd to 8 th points (3, 4, 5, 6, 7, 8 points), and thus, for the 5 th point, the median of 5 points such as the 3 rd to 8 th points is first calculated, and the resulting median is used instead of the value of the 5 th point.

(4) Grid: in this embodiment, the grid is a statistical unit of the motion trajectory processing, which is a unit grid divided according to a preset size, and the accuracy of the trajectory processing can be improved by meshing the motion region of the moving object.

Before the technical solution of the present application is described below, an application scenario of the technical solution of the present application is first described. The embodiment of the application is applied to scenes with fixed space size, such as indoor scenes. Specifically, the indoor scene may refer to places such as a subway, a bank, a mall, a conference room, a restaurant, a supermarket, a shop, and the like. The embodiment of the application does not limit the specific implementation of the indoor scene, and the implementation can be determined according to the actual situation, which is not described herein again.

Fig. 1 is a schematic view of an application scenario of a trajectory processing method according to an embodiment of the present application. Referring to fig. 1, the application scene may include a spatially fixed motion region 11, at least one moving object (e.g., a moving object 121 and a moving object 122) moving in the motion region 11, at least two data acquisition devices (e.g., a data acquisition device 131 and a data acquisition device 132) disposed in the scene, and an electronic device 14 capable of communicating with the at least two data acquisition devices.

In an embodiment of the present application, when a moving object (e.g., a customer) and a data acquisition device satisfy a certain positional relationship, the data acquisition device acquires trajectory data of the moving object. Therefore, if a certain moving object and the at least two data acquisition devices both satisfy a certain positional relationship at a certain moment, the at least two data acquisition devices can simultaneously acquire trajectory data of the moving object.

For example, in the application scenario shown in fig. 1, at a certain time, the moving object 121, the data acquisition device 131 and the data acquisition device 132 both satisfy the above-mentioned positional relationship, and then the data acquisition device 131 and the data acquisition device 132 may acquire trajectory data of the moving object 121 at the same time and respectively transmit the acquired trajectory data to the electronic device 14.

For example, the electronic device 14 may be a monitoring system in the cloud, for example, including: the system comprises a processor 141 and a display 142, wherein the processor 141 is used for processing at least two motion tracks of the moving object acquired from at least two data acquisition devices, and the display 142 is used for presenting the processing result of the processor 141. The electronic device in fig. 1 only exemplarily shows one processor and one display, and the actual composition of the electronic device may be determined according to the actual situation, which is not described herein again.

It should be noted that fig. 1 is only a schematic diagram of an application scenario provided in the embodiment of the present application. Fig. 1 illustrates that two moving objects (the moving object 121 and the moving object 122) exist in the moving area 11, and two data acquisition devices (the data acquisition device 131 and the data acquisition device 132) are provided in a scene. The specific composition and the actual position of the application scene may be determined according to the actual situation, and details are not described here.

In an embodiment of the present application, the data acquisition device is a device for acquiring trajectory data of a moving object, and may be implemented by a plurality of different types, for example, a monitoring device, a device with a GPS positioning function, and a WiFi device, which is not limited in this embodiment of the present application.

The monitoring device is a video and/or image acquisition device fixedly arranged in a scene where the moving object is located, and is used for acquiring video data and/or image data of the moving object and sending the acquired video data and/or image data to the electronic device 14 for processing, and the electronic device 14 can obtain trajectory data of the moving object after processing the acquired video data and/or image data.

The device having the GPS positioning function may refer to a device having the GPS positioning function provided on a moving object, for example, a mobile phone having a position positioning function carried by a customer, or the like. The motion trajectory of the moving object, which can be acquired by the device with the GPS positioning function, can be further sent to the electronic device 14.

When the data acquisition equipment is WiFi equipment, the moving object is equipment with WiFi capacity or an object carrying the equipment with WiFi capacity, the moving object can establish an incidence relation with the WiFi equipment through the WiFi capacity, and when the moving object has the incidence relation with the WiFi equipment, the WiFi equipment acquires track information of the moving object according to the strength of WiFi signals between the moving object and the WiFi equipment.

Through the analysis, the acquisition precision of different data acquisition devices may be different, and the trajectory data of the same moving object acquired by the at least two data acquisition devices at the same time may be different, and a phenomenon that the same moving object corresponds to multiple moving trajectories may occur, so that the moving trajectory of the moving object is inaccurate, and the behavior information of the moving object cannot be truly reflected.

In view of the above problems, an embodiment of the present application provides a trajectory processing method, where at least two motion trajectories acquired by at least two acquisition devices in a target motion region of a target motion object are obtained, each motion trajectory corresponds to one acquisition device, trajectory points on the at least two motion trajectories are respectively mapped into grids corresponding to the target motion region, a motion grid set of the target motion object is determined according to the number of trajectory points in each grid, the size of the grids, and a motion speed of the target motion object, and all trajectory points in the motion grid set are subjected to smoothing filtering processing, so that a theoretical motion trajectory of the target motion object can be obtained. According to the technical scheme, aiming at the environment with a large amount of redundant track points and different precision of the same moving object, the data volume of track data is effectively reduced through the idea of grid division, the problem that the track data is inaccurate due to the fact that a plurality of moving tracks exist in the same object is solved, and the track precision of the moving object is improved.

The overall idea of the embodiment of the application is as follows: based on the idea of grid division, the motion between track points of the same moving object is converted into the transfer between grids, and the moving track is filtered by combining the actual moving scene of the moving object, so that the track data of the moving object is more fit with the actual moving situation, the track precision of the moving object is improved, and a foundation is laid for the subsequent mining of behavior data and the like of the moving object.

It can be understood that the execution subject of this embodiment may be an electronic device, and the electronic device may be a terminal device or a server. The specific implementation of the electronic device may be determined according to actual situations, and will not be described herein.

The technical solution of the present application will be described in detail below with reference to specific examples. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 2 is a schematic flowchart of a first embodiment of a trajectory processing method according to an embodiment of the present application. As shown in fig. 2, the trajectory processing method may include the steps of:

s201, acquiring at least two motion tracks acquired by at least two acquisition devices in a target motion area of a target motion object.

Wherein each motion track corresponds to one acquisition device.

In an embodiment of the application, according to the application scenario shown in fig. 1, at least two acquisition devices are disposed in a target motion region of a target motion object, and when the target motion object is located within an acquisition range of the at least two acquisition devices, the at least two acquisition devices can both acquire a motion trajectory of the target motion object in the target motion region, and then the electronic device can acquire the at least two motion trajectories acquired by the at least two acquisition devices.

It should be noted that, in the embodiment of the present application, the acquisition devices corresponding to the at least two motion trajectories are different from each other, that is, each motion trajectory is acquired by one acquisition device.

Optionally, the electronic device may obtain at least two motion trajectories of the target moving object in various manners, which is not limited in this application. For example, one mode is that the electronic device passively receives collected data transmitted by a plurality of collecting devices, and then analyzes all the received collected data to obtain at least two motion trajectories when the target moving object moves in the target moving area. The other mode is that the electronic equipment actively acquires the motion information from a plurality of acquisition equipment, so that at least two motion tracks of the target motion object moving in the target motion area are directly acquired in a targeted mode.

As an example, at least two acquisition devices performing data acquisition may actively transmit data to the electronic device after acquiring the data, so that the electronic device may passively receive the data (including motion trajectories of the moving object) acquired by the at least two acquisition devices from the plurality of acquisition devices, and further, when the electronic device receives a trajectory processing request issued by a user or an externally triggered trajectory processing request, obtain at least two motion trajectories of the target moving object when the target moving object moves in the target moving area from all the received data.

As another example, the at least two capturing devices may first store the captured data in a local or preset storage device based on a preset configuration, and when the electronic device receives a trajectory processing request sent by a user or an externally triggered trajectory processing request, actively acquire the motion trajectory data of the target moving object from the at least two capturing devices or the preset storage device.

And S202, respectively mapping track points on at least two motion tracks to grids corresponding to the target motion area.

In the embodiment of the present application, in order to solve the problem that at a certain time, the same moving object corresponds to at least two moving trajectories, for example, at least two moving trajectories exist in the target moving object at the same time, in this case, a target moving region of the target moving object may be determined first, then, the target moving region may be subjected to meshing processing, the target moving region with a larger area is divided into a plurality of grids with smaller areas, and the grids are numbered according to rows and columns, so as to obtain a grid representation of the target moving region.

Therefore, the electronic device can map the track points on each motion track into the corresponding grids respectively based on the corresponding relation between the position of each track point on each motion track and the target motion area, so as to determine the corresponding relation between the grids and the track points in the grids.

For example, fig. 3 is a schematic diagram of a grid corresponding to a target motion region in an embodiment of the present application. In the examples of the present application, the size of the mesh is 0.2m × 0.2 m. Assuming that the range of the target motion region is 1.2 × 1.8m, the grid corresponding to the target motion region is as shown in fig. 3, and the number (m, n) of each grid can be determined according to the size of the grid being 0.2m × 0.2 m. Wherein m is the number of columns where the grid is located, and n is the number of rows where the grid is located.

Further, fig. 4 is a distribution diagram illustrating that at least two motion trajectories of the target moving object are mapped into the grid shown in fig. 3 in this embodiment of the present application. Referring to fig. 4, based on the position relationship between the track point on each motion trajectory and each grid, the track point on each trajectory is respectively mapped into the corresponding grid, that is, the at least two motion trajectories are mapped into the grid of the target motion area, which is specifically shown in fig. 4.

Optionally, assuming that coordinates of track points on the motion trajectory are (x, y), a grid where each track point is located may be determined according to a calculation method m ═ x ÷ 0.2 and n ═ y ÷ 0.2.

S203, determining a motion grid set of the target motion object according to the number of track points in each grid, the size of the grid and the motion speed of the target motion object.

In the embodiment of the application, the track points on the at least two motion trajectories all belong to a target motion object, and when the track points on the at least two motion trajectories are mapped to the grids corresponding to the target motion area, the number of the track points in each grid can be counted.

In practical application, according to the positioning characteristics and practices of the acquisition equipment, the track points around the actual position of the target moving object are generally denser, that is, the farther the actual position of the target moving object is, the more sparse the track points are, and the closer the actual position of the target moving object is, the more dense the track points are. Thus, the number of trace points in the mesh is one factor in determining the actual movement position of the target moving object.

According to the principle of continuity of object motion, it can be known that a target moving object can only move at a certain speed, that is, the distance between two adjacent track points is usually not too far, which needs to be determined according to an actual moving speed, and in general, a moving process of the target object usually does not generate a huge jump between grids, so in the embodiment of the present application, the size of the grids and the moving speed of the target moving object are also factors for determining an actual moving position of the target moving object.

Therefore, in the embodiment of the present application, if a motion grid set (composed of multiple grids that actually move) of the target moving object is to be determined, the motion grid set needs to be determined by combining the track points in the grids, the size of the grids, and the moving speed of the target moving object.

Illustratively, fig. 5 is a schematic diagram of a motion grid set of a target moving object corresponding to the schematic diagram shown in fig. 4. Referring to fig. 5, based on the characteristics of the positioning of the acquisition device and the principle of continuity of the object motion, the determined motion grid set may include grids (2,1), (3, 2), (5, 1), (5, 2), (6,3), (6, 4), (7, 2), (7,4), (7, 5).

For the specific implementation of this step, reference may be made to the following description of the embodiment shown in fig. 6, which is not described herein again.

And S204, performing smooth filtering processing on all track points in the motion grid set to obtain a theoretical motion track of the target motion object.

In the embodiment of the application, the collecting device is when gathering data, there may be phenomena such as collecting device shake, vibrations, therefore, there may be some track points that deviate from the actual motion track and are great on the motion track that the collecting device gathered, in order to obtain the track of the actual motion situation of a laminating target motion object, electronic equipment still needs to carry out smooth filtering processing to all track points in the above-mentioned motion grid set that obtains, delete inaccurate track points in the motion grid set, and then carry out smooth processing to remaining track points, in order to obtain the theoretical motion track of target motion object.

According to the track processing method provided by the embodiment of the application, at least two motion tracks acquired by at least two acquisition devices in a target motion area of a target motion object are acquired, track points on the at least two motion tracks are respectively mapped to grids corresponding to the target motion area, a motion grid set of the target motion object is determined according to the number of the track points in each grid, the size of each grid and the motion speed of the target motion object, and finally, all the track points in the motion grid set are subjected to smooth filtering processing to obtain the theoretical motion track of the target motion object. In the technical scheme, based on the idea of grid division, the motion between track points is converted into the transfer between grids, the problem that the track data is inaccurate due to the fact that multiple motion tracks exist in the same motion object is solved, and the precision of the motion tracks corresponding to the motion object is improved.

Exemplarily, on the basis of the above embodiments, fig. 6 is a schematic flow diagram of a second embodiment of a trajectory processing method provided in the embodiment of the present application. As shown in fig. 6, S203 may be implemented by:

s601, determining a first grid set according to the number of the track points in each grid, wherein the number of the track points in each grid included in the first grid set is larger than or equal to the first number.

In the embodiment of the application, because all the track points in the grid belong to the target moving object, and according to the characteristic that data acquisition is performed by acquisition equipment, the track points around the actual position of the target moving object are often denser, so when the track points on at least two moving tracks of the target moving object are mapped into the grid of the target moving area, the number of the track points in each grid can be firstly counted, and then a set is determined according to the relation between the number of the track points in the grid and a preset first number, wherein the set is called a first grid set in the embodiment.

Illustratively, the number of track points in each grid is counted based on the distribution of the track points of the plurality of motion trajectories of the target moving object in the grid shown in fig. 4. Optionally, in this embodiment, the points on the boundaries of the two grids are divided based on the principle of left-closed right-open and top-closed bottom-open, so that, in the schematic diagram shown in fig. 4, for example, the number of the trace points in the grid (2,1) is 2, the number of the trace points in the grid (6,2) is 2, the number of the trace points in the grid (6,3) is 5, and the number of the trace points in the grid (7,4) is 5. The calculation method of the number of the trace points in other grids is similar, and the description is omitted here.

In the embodiment of the present application, assuming that the first number is 2, a set made up of all grids having a number of trace points greater than or equal to 2 is referred to as a first grid set. It can be understood that the specific value of the first quantity is not limited in the embodiment of the present application, and the specific value can be determined according to the trace point acquisition frequency of the actual scene, which is not described herein again.

S602, based on the motion continuity characteristics, determining a motion grid set of the target motion object in the first grid set according to the motion speed of the target motion object and the size of the grid.

In the embodiment of the application, according to the principle of continuity of motion, the target moving object does not have a large displacement during the motion process, and generally can only move at a certain speed, so the distance between two adjacent track points is generally not too far, that is, the actual track during the motion process of the target moving object does not simultaneously appear between two grids with huge jump. Therefore, after the electronic device determines the first grid set with the number of the track points being greater than or equal to the first number, the electronic device may extract the grid to be reserved, that is, the motion grid set of the target motion object, based on the motion speed of the target motion object and the distance between the grids (that is, the size of the grids).

Further, in the embodiment of the present application, referring to fig. 6, the above S204 may be implemented by the following steps:

s603, determining the track center point of the grid and the coordinate information of the track center point according to the coordinate information of all track points in the grid aiming at each grid in the motion grid set.

In the embodiment of the application, when the motion grid set of the target motion object is determined from all grids corresponding to the target motion area, the coordinate information of each track point in each grid can be obtained, and then the track center point in each grid and the coordinate information of the track center point are determined according to the coordinate information of all track points in each grid.

Illustratively, the electronic device averages the coordinates of all track points in each grid to determine a track center point of each grid, and the coordinate average of all track points in each grid is the coordinate information of the track center point.

And S604, processing the track central points of all the grids in the motion grid set based on a median filtering method and the coordinate information of each track central point to obtain the theoretical motion track point of the target motion object.

In the embodiment of the application, when the data acquired by the acquisition devices are space-time data, some track points deviating from actual positions may exist on each motion track acquired by the acquisition devices, and in order to further improve the track accuracy of the target motion object, the electronic device needs to remove track points deviating from a large track after grid division.

Illustratively, the median filtering has a good filtering effect on impulse noise, particularly, while filtering noise, edges of signals can be protected from being blurred, and an algorithm of the median filtering is relatively simple and is easy to implement by hardware, so that in the embodiment of the application, noise at a track center point of each grid in a motion grid set can be deleted by adopting a median filtering mode, a track close to an actual motion situation is obtained, a large number of inaccurate track points are deleted, and the rest are theoretical motion track points of the target motion object.

Fig. 7 is a schematic diagram illustrating a principle that a median filtering method is used to process the track center points of all grids in a motion grid set in the embodiment of the present application. Referring to fig. 7, it is assumed that the motion grid set includes 16 grids, each grid corresponds to a track center point, and the track center points of the 16 grids are p₁To p₁₆. For the number sequence composed of the 16 track center points, the number is processedThe value of a track center point in the sequence is replaced by the median of the values of the track center points in a neighborhood of the track center point, so that the track positions around the track center point are close to the true values, thereby filtering track center points which deviate farther therefrom.

For example, in the schematic diagram shown in fig. 7, assuming that the neighborhood of each track center point includes front and rear 2 track center points and itself, the track center point p₅Can utilize p₃、p₄、p₅、p₆、p₇By median value of, i.e. p₃、p₄、p₅、p₆、p₇After sequencing according to the sequence of the values from small to large, the value of the trace point positioned in the middle of the 5 trace points is used for replacing p₅(ii) a In the examples of the present application, since p₅Is a significant deviation from a larger trace point, and thus, p₃、p₄、p₅、p₆、p₇Has a median value of p₃、p₄、p₆、p₇One of them, so p₅Can be filtered out. The processing of other track center points can be performed in a similar manner, and will not be described herein.

Thus, in the schematic diagram of FIG. 7, when the center point p of the track is located₁To p₁₆All adopt the above-mentioned treatment mode to make treatment, the above-mentioned p₁To p₁₆P in (1)₅、p₁₀、p₁₁、p₁₂Can be filtered out, so that the rest track points are theoretical motion track points of the target motion object.

And S605, smoothing the theoretical motion track point of the target motion object to obtain the theoretical motion track of the target motion object.

In the embodiment of the application, after all theoretical motion track points of the target motion object are obtained, all the theoretical motion track points are connected to obtain a track curve, and the track curve is subjected to smoothing processing in a preset mode, so that the transition of the curve between the theoretical motion track points is smooth, and further the theoretical motion track of the target motion object is obtained.

It is understood that the manner of smoothing may be selected and determined according to practical applications, and is not described herein again.

According to the track processing method provided by the embodiment of the application, the first grid set is determined according to the number of the track points in each grid, the motion grid set of the target motion object is determined in the first grid set according to the motion speed of the target motion object and the size of the grid based on the motion continuity characteristic, the grid through which the target motion object passes can be accurately determined according to the environment with a large amount of redundancy of the track points and different precision, and a foundation is laid for obtaining the motion track with higher precision subsequently. The track central points of all the grids in the motion grid set are processed by determining the track central point of each grid in the motion grid set and the coordinate information of each track central point based on a median filtering method and the coordinate information of each track central point to obtain theoretical motion track points of the target motion object, so that the theoretical motion track of the target motion object can be obtained. In the scheme, smooth filtering processing is carried out on track points in the grid, so that the data volume of the track data can be effectively reduced, and the track data can be attached to the actual motion situation.

Exemplarily, on the basis of the above embodiments, fig. 8 is a schematic flow diagram of a third embodiment of a trajectory processing method provided in the embodiment of the present application. As shown in fig. 8, before the above S202, the method may further include the steps of:

s801, segmenting the at least two motion tracks based on preset time length to obtain a plurality of track segments.

In practical application, the acquisition interval of the acquisition devices is usually millisecond-level, and in view of the problem of control accuracy, a certain delay exists in the acquisition time between the acquisition devices, which may cause time asynchronization between the acquisition devices, so in order to reduce the deviation caused by time asynchronization between the devices, the embodiment of the present application may segment the at least two motion trajectories based on a preset duration, so as to obtain a plurality of trajectory segments.

It will be appreciated that in embodiments of the present application, to reduce the bias, the predetermined time period needs to be much longer than the acquisition time interval of the trace points. For example, in practical applications, the output of the at least two capturing devices is 24 frames/second, that is, the capturing interval of the capturing devices is in milliseconds, in this embodiment of the present application, the motion trajectory may be cut in seconds, so that the elapsed time of each obtained trajectory segment is within one second. Because the corresponding duration of each track segment is far longer than the acquisition interval between the track points, enough track points can be divided on each track segment.

Optionally, on the basis of S801, S202 may be implemented by:

and S802, respectively mapping the track points on the plurality of track segments to grids corresponding to the target motion area.

In the embodiment of the application, after each motion track is segmented, a certain number of track points still exist on each obtained track segment, and after a target motion area is subjected to gridding processing, the corresponding relation between the positions of the track points and the target motion area is unchanged, so that the electronic equipment can map all the track points on the track segment into grids included in the target motion area respectively based on the corresponding relation between the positions of the track points and the target motion area.

The track processing method provided by the embodiment of the application segments the at least two motion tracks based on the preset duration to obtain a plurality of track segments, and maps track points on the track segments to grids corresponding to the target motion area respectively, so that the problem of time asynchronization among different devices is blurred, the precision of the track segments is improved, and the problem of deviation caused by time asynchronization of multiple acquisition devices is solved.

Optionally, on the basis of any one of the above embodiments of the present application, fig. 9 is a schematic flowchart of a fourth embodiment of the trajectory processing method provided in the embodiment of the present application. As shown in fig. 9, before the above S202, the method may further include the steps of:

s901, determining abnormal track points on the at least two motion tracks, wherein the abnormal track points comprise at least one of the following: abrupt track points and track points with unreasonable positions on the motion track.

In the embodiment of the application, after the electronic device acquires the at least two motion tracks for the target motion object, whether abnormal track points exist on the at least two motion tracks or not can be judged based on an actual scene, and if the abnormal track points exist, the type of the abnormal track points is determined.

Exemplarily, in the embodiment of the present application, because the shake or the vibrations of collection equipment, the motion trail can appear the sudden change usually, causes the sudden change track point to appear on the motion trail, or, because collection position relation of collection equipment, the unreasonable track point in position can appear on the motion trail of collection, therefore, unusual track point can be the sudden change track point on the motion trail, also can be the unreasonable track point in position, about the kind of unusual track point, here is no longer repeated.

For a specific implementation principle of this step, reference may be made to the following description in the embodiment shown in fig. 10, and details are not described here.

S902, preprocessing the abnormal track points, wherein the preprocessing comprises any one of the following steps: marking and removing.

In the embodiment of the application, for the abnormal track points on the motion trail, different preprocessing modes can be adopted based on the types of the abnormal track points, such as marking, removing and the like. It is understood that the preprocessing may also include other manners, which may be determined according to actual scenarios, and will not be described herein.

For example, for a sudden change track point on a motion track, the electronic device may, based on a preset configuration, mark the sudden change track point first when determining the sudden change track point on the motion track, so as to provide a reference basis for subsequent track processing.

For track points with unreasonable positions on the motion trail, the electronic equipment can directly reject track points with unreasonable positions on the motion trail based on the preset configuration when determining the track points, so that the precision of the residual track points is improved, and the complexity and difficulty of subsequent processing can be simplified.

In the track processing method provided in the embodiment of the present application, before mapping the track points on the motion track to the grids corresponding to the target motion area, the abnormal track points on the at least two motion tracks are determined, where the abnormal track points include at least one of the following points: abrupt change track point, the unreasonable track point in position on the motion trail, and then carry out the preliminary treatment to above-mentioned unusual track point, this preliminary treatment includes any one of following: marking and removing. According to the technical scheme, the abnormal track points on the track are determined and processed, so that the complexity and difficulty of subsequent track processing are simplified, and the track processing efficiency is improved.

Optionally, on the basis of the embodiment shown in fig. 9, fig. 10 is a schematic flowchart of a fifth embodiment of a trajectory processing method provided in the embodiment of the present application. In the embodiment of the present application, for an abrupt trace point in an abnormal trace point, as shown in fig. 10, the above S901 may be implemented by the following steps:

s1001, determining at least two track line segments corresponding to the time intersection part on at least two motion tracks.

In the embodiment of the application, to the track point that takes place the sudden change on the motion trail, sudden change track point promptly, electronic equipment can adopt the mode of distance difference to detect.

Specifically, after acquiring at least two motion trajectories for the target moving object acquired by at least two acquisition devices, the electronic device determines a time-related part between the at least two motion trajectories, and determines at least two trajectory line segments corresponding to a time intersection part from the at least two motion trajectories respectively.

Exemplarily, fig. 11 is a distribution diagram of at least two motion trajectories in the embodiment of the present application. In the schematic diagram shown in fig. 11, each motion trajectory is obtained by sequencing the trajectory points in time. Therefore, the track line segment corresponding to the time intersection part can be determined according to the time shaft overlapping part of the motion track. Referring to fig. 11, the trajectory line segment 11 on the motion trajectory 1 and the trajectory line segment 21 on the motion trajectory 2 are temporally overlapped trajectory line segments, that is, the trajectory line segment 11 and the trajectory line segment 21 are at least two trajectory line segments corresponding to a temporal intersection portion.

S1002, determining a movement distance corresponding to each track segment and an average movement distance corresponding to at least two track segments according to the distance between two adjacent track points on each track segment.

In the embodiment of the present application, for at least two trajectory segments corresponding to the time-dependent portion, in the time-dependent portion, that is, in the intersecting time range, a movement distance (i.e., a path) corresponding to each trajectory segment is respectively calculated, and an average movement distance is determined according to the movement distances corresponding to the at least two trajectory segments.

Optionally, the electronic device may determine track points existing on each track segment, determine a distance between two adjacent track points, and determine a movement distance corresponding to the track segment according to distances between all adjacent track points on each track segment. In addition, the motion distances corresponding to the at least two trajectory line segments are averaged, so that the average motion distance corresponding to the at least two trajectory line segments can be obtained.

For example, referring to the schematic diagram shown in fig. 11, assuming that the movement distance corresponding to the trajectory segment 11 is x11 and the movement distance corresponding to the trajectory segment 21 is x21, the average movement distance corresponding to the trajectory segment 11 and the trajectory segment 21 is (x11+ x 21)/2.

S1003, sequentially connecting the track points on the at least two track segments based on the time sequence of the track points to obtain a composite track segment.

For example, since a plurality of trace points exist on the at least two trace segments, in an embodiment of the present application, the electronic device may use an initial correlation point of a time correlation portion on one of the at least two trace segments as a starting point, then cross and sequentially connect the trace points of the at least two trace segments according to a time sequence of the trace points, and finally form a composite trace segment between all trace points on the at least two trace segments.

Illustratively, referring to fig. 11, in the embodiment of the present application, the solid line 3 between the trajectory line segment 11 and the trajectory line segment 21 is a composite trajectory line segment of the trajectory line segment 11 and the trajectory line segment 21.

And S1004, determining a synthetic motion distance corresponding to the synthetic track segment according to the distance between two adjacent track points on the synthetic track segment.

In the embodiment of the application, the electronic device may first determine distances between all adjacent track points on the synthesized track segment, and then add the distances between all adjacent track points to obtain a synthesized movement distance corresponding to the synthesized track segment.

And S1005, determining abrupt track points existing on the at least two motion tracks according to the average motion distance corresponding to the at least two track segments and the synthetic motion distance corresponding to the synthetic track segment.

In the embodiment of the present application, as can be known from the foregoing analysis, the electronic device may obtain, according to the foregoing S1002, an average movement distance corresponding to the at least two trajectory segments, and obtain, according to the foregoing S1004, a composite movement distance corresponding to the composite trajectory segment, and in order to determine whether a mutated trajectory point exists on the at least two trajectory segments, the average movement distance and the composite movement distance may be compared, and a difference between the average movement distance and the composite movement distance may be calculated. And if the difference value of the two track segments is greater than a preset threshold value, determining that the at least two track segments belong to abnormal tracks, and abrupt track points exist on the at least two track segments.

In the embodiment of the application, the sudden change U track points on the motion trail can be determined in a distance difference mode, and then are marked, so that a reference basis is provided for subsequent trail processing.

Optionally, on the basis of the embodiment shown in fig. 9, fig. 12 is a schematic flowchart of a sixth embodiment of a trajectory processing method provided in the embodiment of the present application. In the embodiment of the present application, for a trace point with an unreasonable position in an abnormal trace point, as shown in fig. 12, the above S901 may be implemented by the following steps:

s1201, determining at least one fixed obstacle in the target motion area and the coordinate range of each fixed obstacle.

In an embodiment of the present application, for a point of positional abnormality, the electronic device may determine based on a fixed obstacle in the target movement region. Specifically, at least one fixed obstacle in the target movement area is determined, and then the coordinate range of each fixed obstacle, that is, the contour coordinates of the obstacle, is determined.

In practical applications, the fixed obstacles and the coordinate ranges of the fixed obstacles in the target movement area may be determined in advance through manual field measurement or based on a construction drawing, and then the fixed obstacles and the coordinate ranges of the fixed obstacles in the target movement area may be configured in the electronic device in advance, so that when the electronic device processes at least two tracks of the target moving object, at least one fixed obstacle and the coordinate ranges of each fixed obstacle in the target movement area may be determined.

And S1202, determining track points with unreasonable positions on the at least two motion tracks according to whether the track points on the at least two motion tracks fall in the coordinate range of the at least one fixed obstacle.

In the embodiment of the application, since the coordinate range of the fixed obstacle is also fixed, and the target moving object cannot move across the fixed obstacle, it is unreasonable to determine which track points are unreasonable according to whether the track points on the at least two moving tracks fall within the coordinate range of the at least one fixed obstacle.

Exemplarily, fig. 13 is a schematic distribution diagram of unreasonable-positioned locus points in the embodiment of the present application. In this embodiment, a wall in the target movement area is explained as a fixed obstacle. Referring to fig. 13, it is assumed that a wall in the target moving area is a thick vertical line 4 in fig. 13, a left portion of the wall is a movable area of the target moving object, and a right portion of the wall is a coordinate range corresponding to the wall.

In this embodiment, if the motion trajectory is divided into two

trajectory segments

51 and 52 by the wall, as can be seen from fig. 13, the trajectory segment 52 passes through the wall and extends into the wall 4, which is unreasonable for the motion law of the moving object, so that the trajectory segment 52 can be determined as an abnormal trajectory segment, and the trajectory point on the trajectory segment 52 is an abnormal trajectory point.

According to the track processing method provided by the embodiment of the application, unreasonable track points on at least two motion tracks can be determined according to the fixed obstacles in the target motion area and the coordinate range of the obstacles, and are removed in advance, so that the precision of the residual track line segments is improved, and the realization premise is provided for subsequently improving the track processing efficiency.

The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

Fig. 14 is a schematic structural diagram of a first embodiment of a track processing apparatus according to the present application. The device can be integrated in the electronic equipment, and can also be realized by the electronic equipment. As shown in fig. 14, the apparatus may include: an acquisition module 1401, a mapping module 1402, and a processing module 1403.

The acquiring module 1401 is configured to acquire at least two motion trajectories acquired by at least two acquiring devices in a target motion region of a target moving object, where each motion trajectory corresponds to one acquiring device;

the mapping module 1402 is configured to map track points on the at least two motion trajectories to grids corresponding to the target motion area respectively;

the processing module 1403 is configured to determine a motion grid set of the target motion object according to the number of track points in each grid, the size of the grid, and the motion speed of the target motion object, and perform smooth filtering processing on all track points in the motion grid set to obtain a theoretical motion track of the target motion object.

In a possible design of the embodiment of the present application, the processing module 1403 is configured to determine a motion grid set of the target motion object according to the number of track points in each grid, the size of the grid, and the motion speed of the target motion object, specifically:

the processing module 1403 is specifically configured to:

In the above possible design of the present application, the processing module 1403 is configured to perform smooth filtering processing on all track points in the motion grid set to obtain a theoretical motion trajectory of the target motion object, specifically:

the processing module 1403 is specifically configured to:

In another possible design of the embodiment of the present application, the processing module 1403 is further configured to segment the at least two motion trajectories based on a preset time length to obtain a plurality of trajectory segments before the mapping module maps the trajectory points on the at least two motion trajectories to the grids corresponding to the target motion region respectively;

the mapping module 1402 is specifically configured to map the track points on the plurality of track segments into grids corresponding to the target motion area, respectively.

In yet another possible design of the embodiment of the present application, the processing module 1403 is further configured to determine abnormal locus points on the at least two motion trajectories before the mapping module maps the locus points on the at least two motion trajectories to the grids corresponding to the target motion region respectively, where the abnormal locus points include at least one of the following: abrupt change track point, the unreasonable track point in position on the motion trail, and to carry out the preliminary treatment to unusual track point, the preliminary treatment includes any one of following: marking and removing.

In the above possible design of the present application, the processing module 1403 is configured to determine the abnormal track points on the at least two motion tracks, specifically:

the processing module 1403 is specifically configured to:

The apparatus provided in the embodiment of the present application may be configured to execute the method in the embodiment shown in the foregoing method, and the implementation principle and the technical effect are similar, which are not described herein again.

It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the determining module may be a processing element separately set up, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the function of the determining module is called and executed by a processing element of the apparatus. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.

For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when some of the above modules are implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor that can call program code. As another example, these modules may be integrated together, implemented in the form of a system-on-a-chip (SOC).

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

Fig. 15 is a schematic structural diagram of an electronic device for implementing a trajectory processing method according to an embodiment of the present application. As shown in fig. 15, the electronic device may include: a processor 1501, a memory 1502, a communication interface 1503 and a system bus 1504, wherein the memory 1502 and the communication interface 1503 are connected with the processor 1501 through the system bus 1504 and are used for realizing communication with each other, the memory 1502 is used for storing computer execution instructions, the communication interface 1503 is used for communicating with other devices, and the processor 1501 realizes the method of the method embodiment when executing the computer execution instructions.

The system bus mentioned in fig. 15 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The memory may comprise Random Access Memory (RAM) and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The processor may be a general-purpose processor, including a central processing unit CPU, a Network Processor (NP), and the like; but also a digital signal processor DSP, an application specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components.

Optionally, an embodiment of the present application further provides a computer-readable storage medium, in which instructions are stored, and when the instructions are executed on a computer, the computer is caused to execute the method according to the above method embodiment.

Optionally, an embodiment of the present application further provides a chip for executing the instruction, where the chip is configured to execute the method in the foregoing method embodiment.

Embodiments of the present application further provide a computer program product, where the computer program product includes a computer program, where the computer program is stored in a storage medium, and at least one processor may read the computer program from the storage medium, and when the computer program is executed by the at least one processor, the at least one processor may implement the method according to the above method embodiment.

In the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship; in the formula, the character "/" indicates that the preceding and following related objects are in a relationship of "division". "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.

It is to be understood that the various numerical references referred to in the embodiments of the present application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of the present application. In the embodiment of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A trajectory processing method, comprising:

2. The method according to claim 1, wherein the determining the motion grid set of the target motion object according to the number of track points in each grid, the size of the grid and the motion speed of the target motion object comprises:

3. The method according to claim 2, wherein the performing a smoothing filtering process on all trajectory points in the motion grid set to obtain a theoretical motion trajectory of the target moving object includes:

4. The method according to claim 1, wherein before the mapping of the trajectory points on the at least two motion trajectories into the grids corresponding to the target motion region, the method further comprises:

5. The method according to any one of claims 1-4, wherein before said mapping the trajectory points on said at least two motion trajectories into the grids corresponding to said target motion region, respectively, the method further comprises:

6. The method of claim 5, wherein said determining abnormal trajectory points on said at least two motion trajectories comprises:

7. The method of claim 5, wherein said determining abnormal trajectory points on said at least two motion trajectories comprises:

8. A trajectory processing device characterized by comprising: the device comprises an acquisition module, a mapping module and a processing module;

9. The apparatus according to claim 8, wherein the processing module is configured to determine a motion mesh set of the target moving object according to the number of trace points in each mesh, the size of the mesh, and the motion speed of the target moving object, specifically:

the processing module is specifically configured to:

10. The apparatus according to claim 9, wherein the processing module is configured to perform smoothing filtering processing on all track points in the motion grid set to obtain a theoretical motion trajectory of the target motion object, and specifically:

the processing module is specifically configured to:

11. The device according to claim 8, wherein the processing module is further configured to segment the at least two motion trajectories based on a preset duration to obtain a plurality of trajectory segments before the mapping module maps the trajectory points on the at least two motion trajectories to the grids corresponding to the target motion region, respectively;

12. The apparatus according to any one of claims 8 to 11, wherein the processing module is further configured to determine abnormal track points on the at least two motion trajectories before the mapping module maps the track points on the at least two motion trajectories into the grids corresponding to the target motion region, respectively, where the abnormal track points include at least one of: abrupt change track point, the unreasonable track point in position on the motion trail, and to carry out the preliminary treatment to unusual track point, the preliminary treatment includes any one of following: marking and removing.

13. The device according to claim 12, wherein the processing module is configured to determine an abnormal trajectory point on the at least two motion trajectories, and specifically:

the processing module is specifically configured to:

14. The device according to claim 12, wherein the processing module is configured to determine an abnormal trajectory point on the at least two motion trajectories, and specifically:

the processing module is specifically configured to:

15. An electronic device, comprising: a processor, a memory, and computer program instructions stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1-7 when executing the computer program instructions.

16. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, perform the method of any one of claims 1-7.