CN113271440A

CN113271440A - Method, device and equipment for obtaining action track of moving target and storage medium

Info

Publication number: CN113271440A
Application number: CN202110552026.7A
Authority: CN
Inventors: 黄黎滨; 袁琪
Original assignee: Zhejiang Uniview Technologies Co Ltd
Current assignee: Zhejiang Uniview Technologies Co Ltd
Priority date: 2021-05-20
Filing date: 2021-05-20
Publication date: 2021-08-17
Anticipated expiration: 2041-05-20
Also published as: CN113271440B

Abstract

The application discloses a method for obtaining an action track of a moving target, which comprises the following steps: determining the entrance and exit information in the visual range of each image acquisition device in the monitoring area; determining access information between the access ports of different image acquisition devices in a monitoring area; constructing a video road network according to the access information and the access information; and obtaining the action track of the moving target in the monitoring area based on the video road network. By applying the technical scheme provided by the application, the video road network is constructed according to the access information of the image acquisition equipment and the access information of the access between the image acquisition equipment, so that the access condition of each access can be well reflected, and therefore, on the basis of the video road network, a more accurate action track of the moving target in a monitoring area can be obtained, and the moving target can be effectively monitored, tracked and the like. The application also discloses a device, equipment and a storage medium for obtaining the action track of the moving target, and the device, the equipment and the storage medium have corresponding technical effects.

Description

Method, device and equipment for obtaining action track of moving target and storage medium

Technical Field

The present application relates to the field of monitoring technologies, and in particular, to a method, an apparatus, a device, and a storage medium for obtaining a trajectory of a moving target.

Background

In scenes such as video monitoring and target tracking, image acquisition is mostly carried out by using image acquisition equipment, and the acquired images are analyzed to obtain the action track of the moving target. If the moving target moves in the visual range of one image acquisition device, the action track of the moving target in the visual range of the image acquisition device can be easily obtained by analyzing the image acquired by the image acquisition device. However, if the moving range of the moving object exceeds the visual range of the image capturing device, there is no good way to obtain a more accurate movement track of the moving object in this case in the visual range of a plurality of image capturing devices.

Disclosure of Invention

The application aims to provide a method, a device, equipment and a storage medium for obtaining a moving track of a moving target so as to obtain a more accurate moving track of the moving target in a monitored area.

In order to solve the technical problem, the application provides the following technical scheme:

a method for obtaining an action track of a moving target comprises the following steps:

determining the entrance and exit information in the visual range of each image acquisition device in the monitoring area;

determining access information between the access of different image acquisition equipment in the monitoring area;

constructing a video road network according to the access information and the access information;

and obtaining the action track of the moving target in the monitoring area based on the video road network.

In a specific embodiment of the present application, the determining entrance and exit information within a visible range of each image capturing device in a monitored area includes:

aiming at each image acquisition device in a monitored area, obtaining a plurality of frames of images continuously acquired by the current image acquisition device within a set first time period;

respectively determining the moving positions of a plurality of first reference targets in each frame of image;

based on the moving position of each first reference target, obtaining the action track of each first reference target in the visual range of the current image acquisition equipment;

and aggregating the starting points and the ending points of the action tracks of all the first reference targets to obtain the entrance and exit information within the visual range of the current image acquisition equipment.

In a specific embodiment of the present application, the determining access information between the entrances and exits of different image capturing devices in the monitored area includes:

obtaining access data of a plurality of second reference targets in the monitoring area within a set second time period;

and determining whether the access between the access of different image acquisition equipment is reached according to the access passing data.

In a specific embodiment of the present application, the determining whether the accesses of different image capturing devices are reached according to the access passage data includes:

respectively arranging the passing data of the inlet and the outlet of each second reference target according to the passing time sequence;

determining the reachable times between the entrances and the exits belonging to different image acquisition equipment based on the arranged data of the entrances and the exits;

and aiming at any two entrances and exits belonging to different image acquisition equipment, determining whether the two entrances and exits reach each other or not according to the reaching times between the two entrances and exits.

In one embodiment of the present application, the determining, based on the arranged passageway passing data, the number of times that the passageways belonging to different image capturing apparatuses can be reached includes:

initializing the reachable times among the entrances and exits of different image acquisition devices;

for each second reference target, determining the time interval when the current second reference target sequentially passes through two entrances and exits belonging to different image acquisition equipment according to the entrance and exit passing data of the current second reference target;

and if the time interval is smaller than a set interval threshold, increasing the reachable times between the corresponding two entrances.

In a specific embodiment of the present application, the determining whether the current two entrances and exits reach or not according to the number of times that the current two entrances and exits reach includes:

and if the average reachable times between the current two entrances and exits is larger than a preset time threshold, determining the access between the current two entrances and exits.

In an embodiment of the present application, after the constructing the video road network, the method further includes:

and for any two entrances and exits belonging to different image acquisition equipment, if the average reachable times between the two entrances and exits at present is detected to have a fall-back trend and fall-back is less than or equal to the time threshold, deleting the reachable channel between the two entrances and exits at present in the video road network.

under the condition that a set updating condition is reached, repeatedly executing the steps of determining the access information within the visual range of each image acquisition device in the monitoring area and determining the access information between the accesses of different image acquisition devices in the monitoring area to obtain new access information and access information;

and updating the video road network based on the new entrance and exit information and the access information.

In a specific embodiment of the present application, the obtaining, based on the video road network, a motion trajectory of a moving target in the monitored area includes:

obtaining an initial track of a moving target in the monitoring area;

determining a missing pass point according to the video road network, wherein the missing pass point is a pass point passed by the moving target and is not included in the initial track;

and adding the missing pass points in the initial track to obtain the action track of the moving target in the monitoring area.

In a specific embodiment of the present application, after obtaining the initial trajectory of the moving object in the monitored area, the method further includes:

according to the video road network, determining abnormal route points in the route points contained in the initial track;

and outputting prompt information aiming at the abnormal passing point.

In an embodiment of the present application, after obtaining the action trajectory of the moving object in the monitored area, the method further includes:

predicting a next entrance and exit in the monitoring area to which the moving target moves based on the video road network and the action track of the moving target;

and controlling the image acquisition equipment corresponding to the next gateway to be in an open state so as to monitor the moving target.

and determining the current position of the moving target according to the pre-obtained reachable time length between the entrance and the exit in the video road network and the action track of the moving target.

An action trajectory obtaining apparatus of a moving object, comprising:

the entrance and exit information determining module is used for determining entrance and exit information in a visual range of each image acquisition device in the monitoring area;

the access information determining module is used for determining access information between the access ports of different image acquisition devices in the monitoring area;

the video road network construction module is used for constructing a video road network according to the access information and the access information;

and the action track obtaining module is used for obtaining the action track of the moving target in the monitoring area based on the video road network.

A trajectory acquisition device for a moving object, comprising:

a memory for storing a computer program;

a processor for implementing the steps of the method for obtaining an action trajectory of a moving object according to any one of the above mentioned items when executing the computer program.

A computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, realizes the steps of the method for obtaining a trajectory of action of a moving object according to any one of the above.

By applying the technical scheme provided by the embodiment of the application, the entrance and exit information in the visual range of each image acquisition device in the monitoring area is determined, the access information between the entrances and the exits of different image acquisition devices in the monitoring area is determined, the video network is constructed according to the entrance and exit information and the access information, and then the action track of the moving target in the monitoring area is obtained based on the video network. The video road network is constructed according to the access information of the access in the visual range of each image acquisition device and the access information between the access of different image acquisition devices, and the access condition of each access of each image acquisition device in the monitoring area can be well reflected, so that the more accurate action track of the moving target in the monitoring area can be obtained based on the video road network, and the moving target can be effectively monitored, tracked and the like.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a flowchart illustrating an implementation of a method for obtaining an action trajectory of a moving object according to an embodiment of the present disclosure;

fig. 2 is a schematic view of a visible range of the image capturing apparatus 1 in the embodiment of the present application;

fig. 3 is a schematic view of a visible range of the image capturing apparatus 2 in the embodiment of the present application;

FIG. 4 is a diagram illustrating an example of a video network in an embodiment of the present application;

FIG. 5 is a schematic diagram illustrating the determination of entrance/exit information in the embodiment of the present application;

FIG. 6 is another schematic diagram illustrating the determination of entrance/exit information in the embodiment of the present application;

FIG. 7 is a schematic diagram of another example of a video road network in the embodiment of the present application;

FIG. 8 is a schematic structural diagram of an apparatus for obtaining a motion trajectory of a moving object according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of an action trajectory obtaining device for a moving object in an embodiment of the present application.

Detailed Description

The core of the application is to provide a method for obtaining the action track of a moving target, which can be applied to equipment such as a server and the like capable of carrying out image analysis. The server can be in communication connection with each image acquisition device to obtain the image within the corresponding visual range acquired by each image acquisition device.

The method comprises the steps of firstly determining access information in a visual range of each image acquisition device in a monitoring area, determining access information between accesses of different image acquisition devices in the monitoring area, constructing a video network according to the access information and the access information, and then obtaining a movement track of a moving target in the monitoring area based on the video network. The video road network is constructed according to the access information of the access in the visual range of each image acquisition device and the access information between the access of different image acquisition devices, and the access condition of each access of each image acquisition device in the monitoring area can be well reflected, so that the more accurate action track of the moving target in the monitoring area can be obtained based on the video road network, and the moving target can be effectively monitored, tracked and the like.

In order that those skilled in the art will better understand the disclosure, the following detailed description will be given with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present application and 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.

Referring to fig. 1, there is shown an implementation flowchart of a method for obtaining an action trajectory of a moving object according to an embodiment of the present application, where the method includes the following steps:

s110: and determining the entrance and exit information in the visual range of each image acquisition device in the monitored area.

In the embodiment of the application, the monitoring area is an area that needs attention, a plurality of image acquisition devices may be deployed in the monitoring area in advance, each image acquisition device in the monitoring area has a respective visual range, and a plurality of entrances and exits may exist in the visual range of each image acquisition device.

The entrance and exit information, such as the number of entrances and exits, the entrance and exit positions, and the like, within the visible range of each image acquisition device in the monitoring area can be determined. Specifically, the technician may determine the entrance/exit information within the visible range of each image capturing device through manual judgment, and may determine the entrance/exit information within the visible range of each image capturing device by analyzing the image within the corresponding visible range captured by each image capturing device.

For example, fig. 2 is a schematic view of the visible range of the image capturing apparatus 1, and as can be seen from fig. 2, the image capturing apparatus 1 has A, B, C three entrances and exits, wherein the entrance a is at the upper left of the visible range of the image capturing apparatus 1, the entrance B is at the upper middle of the visible range of the image capturing apparatus 1, and the entrance C is at the lower part of the visible range of the image capturing apparatus 1. For another example, fig. 3 is a schematic view of the visible range of the image capturing apparatus 2, and as can be seen from fig. 3, the image capturing apparatus 2 has D, E, F three entrances and exits, wherein the entrance D is at the middle upper part of the visible range of the image capturing apparatus 2, the entrance E is at the lower left part of the visible range of the image capturing apparatus 2, and the entrance F is at the upper right part of the visible range of the image capturing apparatus 2.

In the embodiment of the present application, for any image capturing device, the visual range of the image capturing device can be accessed through the entrance and exit in the visual range of the image capturing device, and even if the visual range of the image capturing device is an open area, entrance and exit information of the visual range of the image capturing device can be obtained.

S120: and determining access information between the access of different image acquisition equipment in the monitored area.

In the embodiment of the present application, the entrances and exits of the same image capturing apparatus are considered to be in communication with each other. For example, the doorway A, B, C in the visible range of the image capturing apparatus 1 shown in fig. 2 is communicated with each other, and the doorway D, E, F in the visible range of the image capturing apparatus 2 shown in fig. 3 is communicated with each other.

After the access information in the visible range of each image acquisition device in the monitoring area is determined, access information between the accesses of different image acquisition devices in the monitoring area can be further determined, namely whether the accesses of different image acquisition devices are accessed or not is determined.

The access information between the entrances and the exits of different image acquisition devices in the monitored area can be determined according to the actual exploration condition, images acquired by the image acquisition devices in corresponding visual ranges can be analyzed, the access information between the entrances and the exits of the different image acquisition devices can be determined, the access information can include whether the entrances and the exits of the different image acquisition devices are accessed or not, and the access information can also include the time length between the entrances and the exits of the different image acquisition devices and other information. The access between the entrances and exits of different image acquisition devices means that one entrance and exit of one image acquisition device can reach one entrance and exit of another image acquisition device, and other entrances and exits do not exist in the middle.

For any two image capturing apparatuses, whether the two image capturing apparatuses reach the entrance or the exit of the two image capturing apparatuses may be determined according to a predetermined rule. For example, if the time period from one entrance of one image capturing apparatus to one entrance of another image capturing apparatus is short and within a set time period, the access between the two entrances of the two image capturing apparatuses can be determined. The time period from an entrance of one image capturing apparatus to an entrance of another image capturing apparatus is the reachable time period.

If the determined access information between the entrance and the exit of the image acquisition device 1 and the image acquisition device 2 is: the doorway B of the image capturing apparatus 1 is accessible to the doorway D of the image capturing apparatus 2, that is, pedestrians or vehicles and the like can reach the doorway D of the image capturing apparatus 2 from the doorway B of the image capturing apparatus 1 without passing through other doorways.

S130: and constructing a video road network according to the entrance and exit information and the access information.

After the entrance and exit information in the visible range of each image acquisition device in the monitoring area and the access information between the entrances and exits of different image acquisition devices in the monitoring area are determined, a video road network can be constructed according to the entrance and exit information and the access information.

Specifically, the number of the entrances and the number of the exits existing in the visual range of each image acquisition device and the position of each entrance can be determined according to the entrance information and the access information, whether the entrances and the exits of different image acquisition devices are accessed or not can be determined, the accessible channels of the accessible entrances and exits are established, and accordingly, the video road network in the monitoring area is established.

For example, if four image capturing devices are deployed in the monitoring area, the image capturing devices can 1, Cam2, Cam3 and Cam4 are provided. Among them, A, B, C three ports exist in the visible range of Cam1, D, E, F three ports exist in the visible range of Cam2, G, H, I, J four ports exist in the visible range of Cam3, and K, L two ports exist in the visible range of Cam 4. According to a certain rule, determining access information between the entrances and exits of different image equipment as follows: the access port B of Cam1 communicates with the access port D of Cam2, the access port C of Cam1 communicates with the access port I of Cam3 and the access port K of Cam4, respectively, and the access port K of Cam4 also communicates with the access port F of Cam2 and the access port I of Cam3, respectively. Accessible passages can be established between the access port B of Cam1 and the access port D of Cam2, between the access port C of Cam1 and the access ports I of Cam3 and K of Cam4, and between the access ports K of Cam4 and the access ports F of Cam2 and I of Cam 3. From this, a video road network in the monitoring area can be constructed, as shown in fig. 4.

The number of the entrances and exits and the position of each entrance and exit in the visual range of each image acquisition device in the monitoring area can be clearly known through the constructed video road network, and the reachable channels existing between the entrances and the exits of the image acquisition devices can be known at the same time.

S140: and obtaining the action track of the moving target in the monitoring area based on the video road network.

In the embodiment of the present application, an object such as a pedestrian or a vehicle, which is currently focused on, may be determined as a moving target. After a video road network is constructed according to the access information in the visible range of each image acquisition device in the monitoring area and the access information between the accesses of different image acquisition devices in the monitoring area, the action track of the moving target in the monitoring area can be obtained based on the video road network.

The access information in the visible range of each image acquisition device and the access information between the accesses of different image acquisition devices can be clearly obtained through the video road network, so when a moving target needs to be monitored, the feature identification can be firstly carried out on the image acquired by each image acquisition device through the identifiable features of the moving target, whether the moving target appears in the visible range of each image acquisition device and the appearance time is searched, the action track of the moving target in the visible range of each image acquisition device is obtained, then the action track which the moving target can pass through which access in the visible range of the image acquisition device reaches the visible range of other image acquisition devices is obtained according to the access information between the accesses of different image acquisition devices in the video road network, and the action tracks of the moving target in the visible range of each image acquisition device are integrated according to the action tracks, and finally, obtaining a more accurate action track of the moving target in the monitoring area.

Specifically, after obtaining the action trajectory of the moving target within the visible range of each image acquisition device, for any one image acquisition device in the monitored area, if it is monitored that the moving target moves out of one entrance and exit within the visible range of the image acquisition device, other entrances and exits that are accessible to the entrance and exit may be determined according to the video road network, and then, according to the occurrence time of the moving target at the entrance and each other entrance and exit that is accessible to the entrance and exit, an entrance and exit that the moving target reaches another image acquisition device after moving out of the entrance and exit within the visible range of the image acquisition device is determined. The operation is carried out on each image acquisition device, and the fact that the moving target enters the visual range of which image acquisition device after moving out of the visual range of a certain image acquisition device can be obtained, so that the action tracks of the moving target in the visual range of the corresponding image acquisition device can be integrated, and the complete and accurate action track of the moving target in the monitoring area can be obtained.

By applying the method provided by the embodiment of the application, the entrance and exit information in the visual range of each image acquisition device in the monitoring area is determined, the access information between the entrances and the exits of different image acquisition devices in the monitoring area is determined, the video network is constructed according to the entrance and exit information and the access information, and then the action track of the moving target in the monitoring area is obtained based on the video network. The video road network is constructed according to the access information of the access in the visual range of each image acquisition device and the access information between the access of different image acquisition devices, and the access condition of each access of each image acquisition device in the monitoring area can be well reflected, so that the more accurate action track of the moving target in the monitoring area can be obtained based on the video road network, and the moving target can be effectively monitored, tracked and the like.

In one embodiment of the present application, step S110 may include the steps of:

the method comprises the following steps: aiming at each image acquisition device in a monitored area, obtaining a plurality of frames of images continuously acquired by the current image acquisition device within a set first time period;

step two: respectively determining the moving positions of a plurality of first reference targets in each frame of image;

step three: based on the moving position of each first reference target, obtaining the action track of each first reference target in the visual range of the current image acquisition equipment;

step four: and aggregating the starting points and the ending points of the action tracks of all the first reference targets to obtain the entrance and exit information within the visual range of the current image acquisition equipment.

For convenience of description, the above steps are combined for illustration.

In the embodiment of the application, under the condition that each image acquisition device in the monitoring area is in an open state, a plurality of frames of images continuously acquired by each image acquisition device within a set first time period can be obtained. The first time period can be set and adjusted according to actual conditions, such as 30 minutes, 1 hour and the like.

After obtaining, for each image acquisition device in the monitored area, multiple frames of images continuously acquired by the current image acquisition device within a set first time period, further determining multiple first reference targets from the previous frames of images. The first reference target may be an object, such as a pedestrian, a vehicle, etc., which has appeared at the edge of the visible range of the current image capturing apparatus in the previous several frames of images. According to the method and the device, the entrance and exit information in the corresponding visual range is determined for each image acquisition device in the monitored area, so that the image acquisition device to which the current operation is directed is the current image acquisition device. For example, when determining the entrance/exit information within the visible range of a first image acquisition device in a monitored area, the current image acquisition device is the first image acquisition device, and when determining the entrance/exit information within the visible range of a second image acquisition device in the monitored area, the current image acquisition device is the second image acquisition device.

The first reference target has certain identifiable characteristics, if the first reference target is a pedestrian, the identifiable characteristics can be human face characteristics, human body characteristics and the like, and if the first reference target is a vehicle, the identifiable characteristics can be license plate characteristics, vehicle body characteristics and the like.

For any first reference target, according to the recognizable characteristic of the first reference target, analyzing the obtained multiple frames of images continuously acquired by the current image acquisition equipment within a set first time period, and determining the moving position of the first reference target in each frame of image.

After the moving positions of the plurality of first reference targets in each frame of image are respectively determined, the action track of each first reference target in the visual range of the current image acquisition device can be obtained based on the moving position of each first reference target. Because multiple frames of images which are continuously acquired by the current image acquisition equipment within a set first time period are obtained, the images have time continuity, and after the moving positions of the first reference target in each frame of image are obtained, the moving positions arrive in time sequence, and therefore based on the moving positions of the same first reference target, the action track of the corresponding first reference target within the visual range of the current image acquisition equipment can be obtained.

After the action track of each first reference target in the visual range of the current image acquisition device is obtained, the starting points and the ending points of the action tracks of all the first reference targets are aggregated, so that the entrance and exit information in the visual range of the current image acquisition device can be obtained.

Specifically, the start points and the end points of the action tracks of all the first reference targets may be aggregated by using a minimum rectangle aggregation algorithm. The minimum rectangle aggregation algorithm is: at least two arbitrary points are needed to form the minimum rectangle, and the sum of all the rectangle areas reaches the minimum.

For example, each of the schemes for performing the aggregation process on the start points and the end points of the action tracks of all the first reference targets may be listed, where the aggregation means that at least two points form a rectangle, and all the start points and the end points in each scheme are included in a certain rectangle. And then calculating the sum of the rectangular areas of each scheme, determining the scheme with the minimum sum of the rectangular areas as a final aggregation scheme, and obtaining the entrance and exit information in the visual range of the current image acquisition equipment according to the aggregation scheme.

The operation of the steps is carried out on each image acquisition device, so that the access information in the visible range of each image acquisition device in the monitored area can be accurately obtained, and the corresponding access information can be stored in a database.

For ease of understanding, the determination of the entrance/exit information will be described below as an example.

Assume that the first reference target is a pedestrian. Through intelligent capture of the moving human body, the moving position of the pedestrian in the image acquired by the corresponding image acquisition equipment can be obtained, and the lowest point framed by the human body can be considered as the moving position of the pedestrian, such as a point P shown in fig. 5. The positions where pedestrians can reach are roads, and the moving positions of a plurality of pedestrians at different moments in the visual range of the image acquisition equipment can be obtained through analyzing the continuous multi-frame images of the same image acquisition equipment, so that the action track of each pedestrian in the visual range of the image acquisition equipment can be obtained.

As shown in FIG. 5, three action tracks are obtained, track 1, track 2 and track 3. The starting point and the end point of the three tracks are six points a, b, c, d, e and f respectively. According to the minimum rectangle aggregation algorithm, when ab, cd and ef form a rectangle respectively, the sum of the areas of the rectangles is minimized. The six points are aggregated to obtain three aggregation points, namely A, B, C, so as to obtain the entrance and exit information within the visual range of the image acquisition equipment.

In the above example, each scheme for performing the aggregation processing on the six points a, b, c, d, e, and f may be listed, for example, one scheme is to form ab into a rectangle, cd into a rectangle, and ef into a rectangle, one scheme is to form abcd into a rectangle, and ef into a rectangle, respectively, but other schemes are also possible and are not listed. The sum of the rectangular areas of each solution is calculated separately, and taking the two solutions listed as examples, as shown in fig. 6, the sum of the rectangular areas of the former solution is significantly smaller than the sum of the rectangular areas of the latter solution, and the solution with the smallest sum of the rectangular areas is determined as the final aggregation solution. The final polymerization scheme was: ab forms a rectangle, cd forms a rectangle, ef forms a rectangle, and there are A, B, C entrances and exits according to the aggregation scheme to obtain entrance and exit information within the visible range of the image acquisition device.

By the method, the merging problem of the entrances and the exits in the visual range of the image acquisition equipment can be well solved, so that different road directions in the visual range of the same image acquisition equipment are obtained, and a refined video road network is convenient to form.

In one embodiment of the present application, step S120 may include the steps of:

the first step is as follows: obtaining access data of a plurality of second reference targets in a monitoring area within a set second time period;

the second step is that: and determining whether the access between the access of different image acquisition equipment is reached according to the access passing data.

For convenience of description, the above two steps are combined for illustration.

In the embodiment of the application, under the condition that each image acquisition device in the monitoring area is in an open state, a plurality of frames of images continuously acquired by each image acquisition device within a set second time period can be obtained. The second time period can be set and adjusted according to actual conditions, such as 30 minutes, 1 hour and the like.

After obtaining, for each image acquisition device in the monitored area, multiple frames of images continuously acquired by the current image acquisition device within a set second time period, further determining multiple second reference targets from the previous frames of images. The second reference target may be an object, such as a pedestrian, a vehicle, etc., which has appeared at the edge of the visible range of the current image capturing apparatus in the previous several frames of images. The second reference target has certain identifiable characteristics.

For any second reference target, according to the recognizable features of the second reference target, the obtained multiple frames of images continuously acquired by the current image acquisition device within the set second time period are analyzed, and when the second reference target passes through which access opening can be determined. Therefore, the entrance and exit passing data of a plurality of second reference targets in the monitored area in the set second time period can be obtained. The doorway pass data may include an identification of the doorway passed and the time of passage.

According to the passing data of the entrances and the exits, whether the entrances and the exits of different image acquisition devices are accessed can be determined. And obtaining access information between the access ports of different image acquisition equipment in the monitoring area.

In a specific embodiment of the present application, the pass data of the entrances and exits of each second reference target may be arranged according to a time sequence, then the number of times that the entrances and exits belong to different image acquisition devices can be determined based on the arranged pass data of the entrances and exits, and then whether the two current entrances and exits reach each other is determined according to the number of times that the two current entrances and exits reach each other for any two of the entrances and exits belonging to different image acquisition devices. The current two entrances and exits refer to the two entrances and exits targeted by the current operation. The passageway passing data may include passing passageway identification and elapsed time. The entrance identifier can uniquely identify an entrance as to which entrance within the visual range of which image capturing device.

In this embodiment of the application, after the entrance and exit passing data of the plurality of second reference targets in the monitoring area within the set second time period is obtained, the entrance and exit passing data of each second reference target may be respectively arranged according to the passing time sequence, so as to determine the time sequence of the entrance and exit through which each second reference target passes.

Based on the arranged passage data of the entrances and exits, the number of times of reaching between the entrances and exits belonging to different image acquisition devices can be determined. For any one second reference target, the passageway through which the second reference target passes can be known through the passageway passing data after the second reference target is arranged, and for two adjacent passageways which do not belong to the same image acquisition device, if the second reference target passes through the two passageways successively in a short time, the two passageways can be considered to be accessible. The data of the entrances and exits of the second reference targets are analyzed and judged, and the times of reaching between the entrances and exits of different image acquisition devices can be determined.

For any two entrances and exits belonging to different image acquisition devices, whether the two entrances and exits reach currently can be determined according to the reaching times between the two entrances and exits currently. Specifically, if the average reachable time between the current two entrances and exits is greater than a preset time threshold, the current two entrances and exits are determined to be reached. The average reachable times can be calculated by day or week, and if the reachable times between the two current entrances and exits within one week is counted to be X, the average reachable times between the two current entrances and exits can be obtained by day and is X/7.

For any two gateways, if the two gateways are accessible, but the average accessible times is counted to be less, the two gateways are considered to be not accessible. If the conditions of road damage, road repair and the like occur between two entrances and exits belonging to different image acquisition devices, only fewer constructors may pass through the two entrances and exits, so that the average reachable times of the two entrances and exits are fewer.

A number threshold may be preset, and only when the average reachable number between the two current gateways is greater than the number threshold, the access between the two current gateways is determined. When the average reachable times between the two current gateways is smaller than or equal to the time threshold, the average reachable times is considered to be less, and the two current gateways cannot be reached. Therefore, the access information of the access opening between the image acquisition devices can be determined more accurately. The number threshold can be set and adjusted according to actual conditions.

In one embodiment of the present application, the number of times that can be reached between the doorways belonging to different image capturing apparatuses can be determined based on the arranged doorway passing data by:

the method comprises the following steps: initializing the reachable times among the entrances and exits of different image acquisition devices;

step two: for each second reference target, determining the time interval of the current second reference target passing through two entrances and exits belonging to different image acquisition equipment according to the passage time passing data of the current second reference target arranged according to the passage time sequence;

step three: and if the time interval is smaller than the set interval threshold, increasing the reachable times between the corresponding two entrances.

For convenience of description, the above steps are combined for illustration.

After the passage time sequence of the passage data of each second reference target is arranged, the reachable times between the passages of different image acquisition devices may be initialized, for example, the reachable times between the passages of different image acquisition devices may be initialized to 0.

For each second reference target, it may be determined, according to the passage data of the current second reference target, which of the passages belonging to different image capturing devices the current second reference target sequentially passes through, and it may be determined that the time interval at which the current second reference target sequentially passes through two passages belonging to different image capturing devices. The current second reference target is the second reference target for the current operation. For example, when the corresponding gateway passing data is to be processed for a first second reference target, the current second reference target is the first second reference target, and when the corresponding gateway passing data is to be processed for a second reference target, the current second reference target is the second reference target.

For example, the passage data of the entrance and the exit of a certain second reference target arranged according to the sequence of the passage time is: the doorway B (time 1) → the doorway D (time 2) → the doorway E (time 3), and as can be seen from this, the second reference object sequentially passes through the doorway B, D, E, wherein the doorway B, D belongs to different image capturing apparatuses, and then the time interval during which the second reference object sequentially passes through the two doorways belonging to different image capturing apparatuses is the time interval from the time 1 to the time 2.

An interval threshold may be set, and if the time interval at which the current second reference target sequentially passes through the two entrances and exits belonging to different image acquisition devices is smaller than the interval threshold, it may be considered that the distance between the corresponding two entrances and exits is short, the access probability is high, and the number of times that the corresponding two entrances and exits can be reached may be increased, such as the number of times that the corresponding two entrances and exits will be reached + 1. If the time interval is greater than or equal to the interval threshold, it can be considered that the corresponding two entrances and exits are far away, the access probability is not high, and the access times of the corresponding two entrances and exits do not need to be increased. The interval threshold value can be set and adjusted according to actual conditions.

By comparing the time interval sequentially passing through the two entrances and exits belonging to different image acquisition devices with the interval threshold, the reachable times between the entrances and exits belonging to different image acquisition devices can be accurately determined, so that the access information between the entrances and exits of different image acquisition devices can be accurately determined in the following.

In an embodiment of the present application, after constructing the video road network, the method may further include the steps of:

and for any two entrances and exits belonging to different image acquisition equipment, if the average reachable times between the two entrances and exits at present is detected to have a fall-back trend and fall-back is less than or equal to a time threshold, deleting the reachable channel between the two entrances and exits at present in the video road network.

In the embodiment of the application, after the entrance and exit information in the visible range of each image acquisition device in the monitoring area and the access information of the entrance and exit between the image acquisition devices in the monitoring area are determined, and a video road network is constructed according to the entrance and exit information and the access information, the entrance and exit passing data of a second reference target in the monitoring area can be continuously obtained or according to a set time interval, and the average access times between any two entrances and exits belonging to different image acquisition devices are counted.

For any two entrances and exits belonging to different image acquisition devices, if the average reachable times between the two current entrances and exits is detected to have a fall-back trend and the fall-back times are less than or equal to a time threshold, the situation of road repair or urban road change and the like can be considered to occur, so that the two current entrances and exits are no longer accessible, the reachable channel between the two current entrances and exits can be deleted in the video road network, and the accuracy of the subsequent action track of the moving target obtained based on the video road network can be improved. The current two entrances refer to the two entrances to which the current operation is directed.

For example, in the video road network shown in fig. 4, the entrance C of Cam1 and the entrance I of Cam3 reach, if the average reachable number of times between the entrance C and the entrance I has a fall-back trend due to road repair or urban road change, and the fall-back trend is smaller than or equal to the threshold number of times, it may be considered that the two entrances do not reach any more, the reachable channels between the two entrances may be deleted in the video road network, and the updated video road network is shown in fig. 7.

the first step is as follows: under the condition that set updating conditions are met, repeatedly executing the steps of determining access information within the visual range of each image acquisition device in the monitoring area and determining access information between accesses of different image acquisition devices in the monitoring area to obtain new access information and access information;

the second step is that: and updating the video road network based on the new entrance and exit information and the access information.

In the embodiment of the present application, the update condition may be preset, for example, when an update instruction is received, the update condition is considered to be reached, or when a set time interval is reached, the update condition is considered to be reached, or when a change in the entrance is detected, the update condition is considered to be reached.

When the update condition is met, the operations of the steps related to step S110 and step S120 may be repeatedly performed, the entrance and exit information within the visible range of each image capturing device in the monitored area and the access information between the entrances and exits of different image capturing devices in the monitored area are re-determined, new entrance and exit information and access information are obtained, and then the video road network is updated based on the new entrance and exit information and access information. Therefore, the conditions such as road repair, urban road change and the like can be better met, and the accuracy of the action track of the moving target obtained based on the video road network can be improved.

In one embodiment of the present application, step S140 may include the steps of:

the method comprises the following steps: obtaining an initial track of a moving target in a monitoring area;

step two: determining missing path points according to the video road network, wherein the missing path points are path points which are passed by the moving target and are not included in the initial track;

step three: and adding missing pass points in the initial track to obtain the action track of the moving target in the monitoring area.

For convenience of description, the above steps are combined for illustration.

In the embodiment of the application, after the video road network is constructed, when a monitoring requirement for the moving target exists, an initial track of the moving target in a monitoring area can be obtained first. Specifically, images in corresponding visual ranges acquired by image acquisition equipment in a monitoring area can be analyzed through identifiable characteristics of the moving target, an entrance through which the moving target passes in sequence is determined, and an initial track of the moving target in the monitoring area is determined according to the entrance through which the moving target passes in sequence. If the initial trajectory of the moving target is A → B → L, that is, the currently recognized result is that the passing points of the moving target passing by successively are: the doorway a, the doorway B, and the doorway L do not detect a moving object at the other doorways.

The feature recognition algorithms adopted by different image acquisition devices can be the same or different, and the recognition accuracy degrees are different.

After the initial track of the moving target in the monitoring area is obtained, the missing pass points can be determined according to the video road network. The missing pass points are pass points passed by the moving target and are not included in the initial trajectory. Specifically, the missing pass point can be determined according to a certain routing algorithm. If the access gateway of each passing point included in the initial track can be determined one by one according to the video road network, for each passing point included in the initial track, whether the next passing point of the passing point can be reached through the access gateway of the passing point starting from the passing point can be further determined, and if yes, the access gateway can be used as a missing passing point. Alternatively, the access entrance may be determined as a missing pass point when the re-analysis of the relevant captured images of the access entrance is performed to determine that the moving object has indeed passed.

For example, the pre-constructed video road network is shown in fig. 4, and the initial trajectory of the moving object is a → B → L. That is, in the initial judgment, only the moving object is known to be present in the visible range of Cam1 and Cam4, and no similar object is compared in the visible range of other image capturing apparatuses. If the judgment is simply made according to the reachable situation between the image acquisition devices, it is considered that Cam2 and Cam3 may both pass through the network, but in the embodiment of the present application, after a refined video network is constructed, the following information can be obtained based on the video network:

firstly, because the same image acquisition device has stronger reliability on target tracking, if the moving target disappears at the entrance B of Cam1, the moving target is less likely to reach Cam3 through the entrance C of Cam 1;

next, since the access between the doorway B of Cam1 and the doorway D of Cam2 can be determined from the refined video network, the moving object passes through the doorway B of Cam1 and then the doorway D of Cam 2. In addition, since the moving object finally appears at the entrance L of Cam4, and it can be determined from the video network that the visible range of Cam4 includes the entrance K and the entrance L, the moving object has a high probability of reaching the entrance L through the entrance F of Cam 4. Related collected images of an entrance D and an entrance F of Cam2 and Cam4 can be reanalyzed, for example, a moving target can be re-identified in a mode of reducing a similarity threshold, and whether the entrance D and the entrance F are missing passing points or not is determined.

After the missing passing points are determined, the missing passing points can be added into the initial track to obtain a more accurate action track of the moving target in the monitoring area.

The initial track is obtained, and then the missing passing points are determined according to the video road network, so that more accurate action track can be obtained, and meanwhile, the recognition efficiency can be improved.

In one embodiment of the present application, after obtaining the initial trajectory of the moving object within the monitored area, the method may further include the steps of:

the first step is as follows: determining abnormal passing points in the passing points included in the initial track according to the video road network;

the second step is that: and outputting prompt information aiming at the abnormal passing points.

In the embodiment of the application, after the initial trajectory of the moving target in the monitored area is obtained, an abnormal path point, that is, an entrance and an exit which are unlikely to pass through, in the path points included in the initial trajectory can be further determined according to the video road network. Specifically, it may be determined, according to the video road network, whether a previous route point of the route point may start from the route point and pass through the route point, and a next route point of the route point may be reached without skipping other entrances and exits, and if not, the route point may be determined to be an abnormal route point. After the abnormal passing point in the passing points included in the initial track is determined, prompt information aiming at the abnormal passing point can be output to prompt the current abnormal condition of the user, and the abnormal passing point can be removed from the initial track according to the instruction of the user to obtain a more accurate action track.

For example. The moving object is a pedestrian, the initial trajectory of the pedestrian is a → C → E → K → L, and if the judgment is made simply according to the reachable condition between the image capturing devices, since the pedestrian can reach Cam4 through the visible range of Cam2 within the visible range of Cam1, it is considered that there is no abnormal passing point in the initial trajectory. However, in the embodiment of the present application, under a refined video road network, the abnormality determination may be performed on each passing point in the initial trajectory. For example, for the third route point E, according to the video road network, it can be determined that if the route point K is reached from the route point C through the route point E, the route point E has an abnormality because the exit D must be passed through and the exit D is not included in the initial trajectory. That is, the pedestrian cannot pass through the doorway C and jump the doorway D to reach the doorway E, and the waypoint E of the waypoints included in the initial trajectory can be determined to be an abnormal waypoint. Here, the passing point and the entrance are equivalent concepts.

In one embodiment of the present application, after obtaining the action track of the moving target in the monitored area, the method may further include the following steps:

the method comprises the following steps: predicting a next entrance and exit in a monitoring area to which the moving target moves based on the video road network and the action track of the moving target;

step two: and controlling the image acquisition equipment corresponding to the next gateway to be in an open state so as to monitor the moving target.

And after a video road network is constructed according to the access information in the visible range of each image acquisition device in the monitoring area and the access information between the access of different image acquisition devices in the monitoring area, acquiring the action track of the moving target in the monitoring area based on the video road network. The obtained action track is generated by the moving target, and in order to more accurately monitor the moving target, the further action of the moving target can be predicted based on the action tracks of the video road network and the moving target, and the moving target is predicted to move to the next entrance and exit in the monitoring area.

If the movement trajectory of the moving object is a → C → I, it can be predicted that the moving object will move to the next gateway in the monitored area by the gateways G, H, J and K that are the gateways to the gateway I as shown in fig. 4 and the movement trajectory thereof: G. h, J or K.

After the next entrance and exit in the monitoring area to which the moving target moves is predicted, the image acquisition equipment corresponding to the next entrance and exit can be controlled to be in an open state, and therefore the moving target can be better monitored.

In the embodiment of the application, the reachable time between the entrances and the exits in the video network can be obtained in advance, for example, the reachable time from one entrance to the other entrance of a reference target can be obtained through manual measurement or analysis of images collected by image collecting equipment, and then the reachable time is determined through a set algorithm. For example, the time length of a plurality of reference targets arriving at one gateway from another gateway can be obtained, and the average value or the median value of the time lengths is taken as the reachable time lengths of the two gateways.

After the action track of the moving target in the monitoring area is obtained, the passing time of the moving target at the last entrance and exit of the action track can be obtained, the time length of the passing time from the current time is the time length of the moving target continuing to move after passing the last entrance and exit of the action track, and the continuous moving distance of the moving target can be obtained according to the proportion of the time length of the continuous moving and the time length of the last entrance and exit of the action track and the time length of the moving target reaching the entrance and exit, so that the current position of the moving target is determined. Thus, the moving target can be effectively monitored. The current time is a time at which the determination of the position of the moving object is currently required.

Corresponding to the above method embodiments, the present application further provides a motion trajectory obtaining device of a moving object, and the motion trajectory obtaining device of a moving object described below and the motion trajectory obtaining method of a moving object described above may be referred to correspondingly.

Referring to fig. 8, the apparatus may include the following modules:

the entrance and exit information determining module 810 is used for determining entrance and exit information within a visual range of each image acquisition device in the monitoring area;

an access information determining module 820, configured to determine access information between entrances and exits of different image acquisition devices in a monitored area;

the video road network construction module 830 is configured to construct a video road network according to the entrance and exit information and the access information;

and the action track obtaining module 840 is used for obtaining the action track of the moving target in the monitoring area based on the video road network.

By applying the device provided by the embodiment of the application, the entrance and exit information in the visual range of each image acquisition device in the monitoring area is determined, the access information between the entrances and the exits of different image acquisition devices in the monitoring area is determined, the video network is constructed according to the entrance and exit information and the access information, and then the action track of the moving target in the monitoring area is obtained based on the video network. The video road network is constructed according to the access information of the access in the visual range of each image acquisition device and the access information between the access of different image acquisition devices, and the access condition of each access of each image acquisition device in the monitoring area can be well reflected, so that the more accurate action track of the moving target in the monitoring area can be obtained based on the video road network, and the moving target can be effectively monitored, tracked and the like.

In a specific embodiment of the present application, the entrance and exit information determining module 810 is configured to:

In one embodiment of the present application, the access information determining module 820 is configured to:

obtaining access data of a plurality of second reference targets in a monitoring area within a set second time period;

and determining whether the accesses of different image acquisition devices are accessed according to the access passing data.

and aiming at any two entrances and exits belonging to different image acquisition equipment, determining whether the two entrances and exits reach currently or not according to the reaching times between the two entrances and exits currently.

and if the time interval is smaller than the set interval threshold, increasing the reachable times between the corresponding two entrances.

In a specific embodiment of the present application, the video network system further includes a video network first updating module, configured to:

after a video road network is constructed, for any two entrances and exits belonging to different image acquisition devices, if the fact that the average reachable times between the two entrances and exits at present has a fall-back trend and the fall-back is smaller than or equal to a time threshold value is detected, an reachable channel between the two entrances and exits at present is deleted in the video road network.

In a specific embodiment of the present application, the video network system further includes a video network second updating module, configured to:

after a video road network is constructed, under the condition that a set updating condition is reached, repeatedly executing the steps of determining access information in the visible range of each image acquisition device in the monitoring area and determining access information between accesses of different image acquisition devices in the monitoring area, and obtaining new access information and access information;

In an embodiment of the present application, the action trajectory obtaining module 840 is configured to:

obtaining an initial track of a moving target in a monitoring area;

determining missing pass points according to a video road network, wherein the missing pass points are pass points passed by a moving target and are not included in an initial track;

and adding missing pass points in the initial track to obtain the action track of the moving target in the monitoring area.

In a specific embodiment of the present application, the method further includes an anomaly determination module, configured to:

after an initial track of a moving target in a monitoring area is obtained, determining abnormal passing points in the passing points contained in the initial track according to a video road network;

and outputting prompt information aiming at the abnormal passing points.

In one embodiment of the present application, the method further comprises a trajectory prediction module, configured to:

after the action track of the moving target in the monitoring area is obtained, predicting the next entrance and exit in the monitoring area to which the moving target moves based on the video road network and the action track of the moving target;

In an embodiment of the present application, the mobile terminal further includes a current position determining module, configured to:

after the action track of the moving target in the monitoring area is obtained, the current position of the moving target is determined according to the time length which can be reached between the entrance and the exit of the video road network and the action track of the moving target which are obtained in advance.

Corresponding to the above method embodiment, an embodiment of the present application further provides an action trajectory obtaining device for a moving target, including:

a memory for storing a computer program;

and the processor is used for realizing the steps of the action track obtaining method of the moving target when executing the computer program.

As shown in fig. 9, the action trajectory obtaining device for a moving target is a schematic diagram of a composition structure of the action trajectory obtaining device for a moving target, and may include: a processor 10, a memory 11, a communication interface 12 and a communication bus 13. The processor 10, the memory 11 and the communication interface 12 all communicate with each other through a communication bus 13.

In the embodiment of the present application, the processor 10 may be a Central Processing Unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic device, etc.

The processor 10 may call a program stored in the memory 11, and in particular, the processor 10 may perform operations in the embodiment of the action trajectory obtaining method of the moving object.

The memory 11 is used for storing one or more programs, the program may include program codes, the program codes include computer operation instructions, in this embodiment, the memory 11 stores at least the program for implementing the following functions:

determining access information between the access ports of different image acquisition devices in a monitoring area;

In one possible implementation, the memory 11 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function (such as a communication interaction function and an information processing function), and the like; the storage data area may store data created during use, such as access information data, and the like.

Further, the memory 11 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device or other volatile solid state storage device.

The communication interface 12 may be an interface of a communication module for connecting with other devices or systems.

Of course, it should be noted that the structure shown in fig. 9 does not constitute a limitation to the action track obtaining device of the moving object in the embodiment of the present application, and in practical applications, the action track obtaining device of the moving object may include more or less components than those shown in fig. 9, or some components may be combined.

Corresponding to the above method embodiments, the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the above method for obtaining an action trajectory of a moving object.

The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The principle and the implementation of the present application are explained in the present application by using specific examples, and the above description of the embodiments is only used to help understanding the technical solution and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.

Claims

1. A method for obtaining a trajectory of a moving object, comprising:

2. The method for obtaining the action track of the moving object according to claim 1, wherein the determining of the entrance/exit information in the visible range of each image capturing device in the monitored area comprises:

3. The method for obtaining the action track of the moving object according to claim 1, wherein the determining the access information between the entrances and exits of different image capturing devices in the monitored area comprises:

4. The method for obtaining the action track of the moving object according to claim 3, wherein the determining whether the entrances and the exits of different image capturing devices are accessed according to the entrance and exit passing data comprises:

5. The method for obtaining an action trajectory of a moving object according to claim 4, wherein the determining the number of times of reaching between the entrances and the exits belonging to different image capturing apparatuses based on the arranged passageway passing data comprises:

6. The method for obtaining the action track of the moving object according to claim 4, wherein the determining whether the current two gateways are reached according to the number of times that the current two gateways are reached comprises:

7. The method according to claim 6, further comprising, after said constructing a video road network:

8. The method for obtaining the action trajectory of the moving object according to claim 1, further comprising, after the constructing the video road network:

9. The method for obtaining the action track of the mobile target according to claim 1, wherein the obtaining the action track of the mobile target in the monitoring area based on the video road network comprises:

obtaining an initial track of a moving target in the monitoring area;

10. The method for obtaining the action track of the moving object according to claim 9, further comprising, after obtaining the initial track of the moving object in the monitored area:

and outputting prompt information aiming at the abnormal passing point.

11. The method for obtaining the action track of the moving object according to claim 1, further comprising, after obtaining the action track of the moving object in the monitored area:

12. The method for obtaining the action track of the moving object according to any one of claims 1 to 11, further comprising, after obtaining the action track of the moving object in the monitoring area:

13. An action trajectory acquisition device for a moving object, comprising:

14. An action trajectory obtaining device of a moving object, comprising:

a memory for storing a computer program;

a processor for implementing the steps of the method for obtaining a trajectory of action of a moving object according to any one of claims 1 to 12 when executing said computer program.

15. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method for obtaining a trajectory of action of a moving object according to any one of claims 1 to 12.