CN113345011A

CN113345011A - Target object position determining method and device, electronic equipment and storage medium

Info

Publication number: CN113345011A
Application number: CN202110712096.4A
Authority: CN
Inventors: 于萌; 赵馨逸; 王延
Original assignee: Beijing Sensetime Technology Development Co Ltd
Current assignee: Beijing Sensetime Technology Development Co Ltd
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2021-09-03
Anticipated expiration: 2041-06-25
Also published as: CN113345011B

Abstract

The present disclosure relates to a method and an apparatus for determining a position of a target object, an electronic device, and a storage medium, wherein the method includes: constructing a spatial data model for characterizing a real physical space, the spatial data model comprising: spatial plane, spatial region, spatial point location; wherein said spatial plane comprises at least one of said spatial regions, said spatial region comprising at least one of said spatial point locations; determining spatial position information of the image acquisition equipment in the spatial data model; and under the condition that a target object exists in the image acquired by the image acquisition equipment, determining the position of the target object by using the spatial position information. The embodiment of the disclosure can save space modeling resources and improve modeling efficiency; the position of the target object in the image acquired by the image acquisition device can be determined based on the spatial position information of the image acquisition device in the image data model, and the event of the target object in the real physical world can be accurately described.

Description

Target object position determining method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of computer vision technologies, and in particular, to a target object location method and apparatus, an electronic device, and a storage medium.

Background

With the improvement of the building level, the property area is further enlarged, and the property state is further diversified. This puts higher demands on efficient management services for property enterprises. For example: the positions of people, vehicles and the like are determined efficiently. Therefore, the property enterprises actively push forward the digital transformation.

However, due to diversification of the property state, each property company has to perform space management based on different physical spaces such as houses, shopping centers, and business writings which are managed individually, and the space management is often realized by a space data model. In the related art, the spatial data model of spatial management is strongly related to spatial types, and definitions of the spatial data model are different for office buildings, residential cells and shopping centers, for example, the spatial hierarchy logic of a residential cell is usually expressed as a cell- > unit building- > resident from large to small, and the spatial hierarchy logic of a shopping center is usually expressed as a shopping center- > floor- > industry type area- > brand shop from large to small.

Therefore, a set of spatial data model cannot be used for carrying out adaptation and unified management on multiple spaces, and each property enterprise has to separately develop the spatial data model based on the physical space managed by each property enterprise, so that the defects of resource waste, efficiency reduction, single use scene and the like are caused.

Disclosure of Invention

The present disclosure provides a technical solution for determining a target object position.

According to an aspect of the present disclosure, there is provided a target object position determining method, including:

constructing a spatial data model for characterizing a real physical space, the spatial data model comprising: spatial plane, spatial region, spatial point location; wherein said spatial plane comprises at least one of said spatial regions, said spatial region comprising at least one of said spatial point locations;

determining spatial position information of the image acquisition equipment in the spatial data model;

and under the condition that a target object exists in the image acquired by the image acquisition equipment, determining the position of the target object by using the spatial position information.

In one possible implementation manner, the determining the position of the target object by using the spatial position information includes:

a plurality of image capturing devices that determine that the target object is present in the captured image;

and determining each spatial region through which the target object passes in sequence according to the appearance sequence of the target object in the plurality of image acquisition devices and each spatial region corresponding to the image acquired by the plurality of image acquisition devices.

In one possible implementation, after the building the spatial data model for characterizing the real physical spatial location, the method further includes: acquiring a map of the real physical space, wherein the map comprises real physical space coordinates of each point;

and establishing a mapping relation between the image coordinates of the image acquired by the image acquisition equipment and the real physical space coordinates in the map.

In one possible implementation, the determining the position of the target object by using the spatial position information includes: determining target image coordinates of a target object in an image acquired by image acquisition equipment; and determining real physical space coordinates corresponding to the target image coordinates based on the mapping relation.

In one possible implementation, after the obtaining the map of the real physical space, the method further includes: establishing an association between the spatial data model and the map; the establishing of the association between the spatial data model and the map comprises: establishing a spatial association between the spatial plane and the map; establishing regional associations between the spatial regions and regions on the map; and establishing point location association between the spatial point location and each point location on the map.

In one possible implementation, after the establishing the association between the spatial data model and the map, the method further includes: determining a target space plane, a target space area and a target space point position of the real space coordinate of the target object in the space data model according to the association between the space data model and the map; and storing the target space plane, the target space area and the target space point location by using the space data model.

According to an aspect of the present disclosure, there is provided a target object position determination apparatus including:

a model construction unit for constructing a spatial data model for characterizing a real physical space, the spatial data model comprising: spatial plane, spatial region, spatial point location; wherein said spatial plane comprises at least one of said spatial regions, said spatial region comprising at least one of said spatial point locations;

the spatial position information determining unit is used for determining the spatial position information of the image acquisition equipment in the spatial data model;

and the target object positioning unit is used for determining the position of the target object by utilizing the spatial position information under the condition that the target object exists in the image acquired by the image acquisition equipment.

In a possible implementation manner, the spatial position information includes spatial regions corresponding to images acquired by the image acquisition device, and the spatial position information unit includes:

an image capturing device determining unit configured to determine a plurality of image capturing devices in which the target object exists in the captured image;

and the target object track determining unit is used for determining each space area through which the target object passes in sequence according to the appearance sequence of the target object in the plurality of image acquisition devices and each space area corresponding to the images acquired by the plurality of image acquisition devices.

In one possible implementation, the apparatus further includes:

the map acquisition unit is used for acquiring a map of the real physical space, and the map comprises real physical space coordinates of each point;

and the mapping relation determining unit is used for establishing the mapping relation between the image coordinates of the image acquired by the image acquisition equipment and the real physical space coordinates in the map.

In one possible implementation, the spatial location information unit includes:

the image coordinate determination unit is used for determining the target image coordinate of the target object in the image acquired by the image acquisition equipment;

and the space coordinate determination unit is used for determining the real physical space coordinate corresponding to the target image coordinate based on the mapping relation.

In one possible implementation, the apparatus further includes:

the association unit is used for establishing association between the spatial data model and the map;

the association unit includes:

a spatial association unit for establishing a spatial association between the spatial plane and the map;

the area association unit is used for establishing area association between the space area and each area on the map;

and the point location association unit is used for establishing point location association between the space point location and each point location on the map.

In one possible implementation, the apparatus further includes:

the spatial position determining unit is used for determining a target spatial plane, a target spatial area and a target spatial point position of the real spatial coordinate of the target object in the spatial data model according to the association between the spatial data model and the map;

and the storage unit is used for storing the target space plane, the target space area and the target space point location by utilizing the spatial data model.

According to an aspect of the present disclosure, there is provided an electronic device including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.

According to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

In an embodiment of the present disclosure, a spatial data model for characterizing a real physical space is constructed, the spatial data model including: spatial plane, spatial region, spatial point location; wherein the spatial plane comprises at least one spatial region, the spatial region comprising at least one spatial point location; then, determining the spatial position information of the image acquisition equipment in the spatial data model; and under the condition that a target object exists in the image acquired by the image acquisition equipment, determining the position of the target object by using the spatial position information. The space data model can correspond to any real physical space, has high universality, saves resources in space modeling, improves modeling efficiency, can be widely applied to various scenes, can determine the position of a target object in an image acquired by image acquisition equipment based on the space position information of the image acquisition equipment in the image data model, and can accurately describe the event of the target object in the real physical world.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

Fig. 1 shows a flow chart of a target object position determination method according to an embodiment of the present disclosure.

Fig. 2 shows a schematic diagram of a motion trajectory of a target object in a spatial plane according to an embodiment of the present disclosure.

Fig. 3 is a schematic diagram illustrating a mapping relationship between image coordinates and map coordinates according to an embodiment of the present disclosure.

Fig. 4 shows a mapping matrix schematic of image coordinates and map coordinates according to an embodiment of the disclosure.

Fig. 5 shows a schematic diagram of a precise motion trajectory of a target object in a spatial plane according to an embodiment of the present disclosure.

Fig. 6 shows a block diagram of an apparatus according to an embodiment of the present disclosure.

Fig. 7 shows a block diagram of an electronic device according to an embodiment of the disclosure.

Fig. 8 illustrates a block diagram of an electronic device in accordance with an embodiment of the disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

At present, property enterprises are actively promoting digital transformation and utilizing a spatial data model for management service, but each property enterprise often develops the spatial data model independently based on a physical space managed by each property enterprise, so that the defects of resource waste, efficiency reduction, single use scene and the like are caused.

Fig. 1 shows a flowchart of a target position determination method according to an embodiment of the present disclosure, as shown in fig. 1, the target position determination method includes:

in step S11, a spatial data model for characterizing the real physical space is constructed, the spatial data model comprising: spatial plane, spatial region, spatial point location; wherein the spatial plane comprises at least one of the spatial regions, the spatial region comprising at least one of the spatial point locations.

In the embodiment of the disclosure, the real physical space can be divided by using a plurality of spatial planes by using video frames, images, maps, digital elevation models, object position relations in the physical space, and the like of the real physical space. The plurality of spatial planes here divides the real physical space into a plurality of spaces.

Each spatial plane may then be divided into a plurality of spatial regions by region function, location, range, etc., the set of these spatial regions will constitute the spatial plane. The embodiment of the present disclosure does not limit the basis for dividing the spatial region, and those skilled in the art can divide the spatial region according to the actual application scenario.

Then, according to the key points set in the real physical space for identifying the positions of the object, the identification location, and the like, the positions of the key points are determined in each space region, and the space point position is set at the position. It should be noted that the position of any object or location in the real space may be referred to as a key point, so any point in the space area may be referred to as a spatial point location.

The space plane, the space regions divided in the space plane and the determined space point positions in the space regions jointly form a space data model capable of representing a real physical space.

Taking a certain building in the physical space as an example, the process of constructing the spatial data model will be described.

First, a spatial plane in a spatial data model is established. The building may be divided into a plurality of floors according to the floors, or the building may be divided into: property floor, merchant floor, equipment floor, etc., the division mode of this disclosed embodiment to the physical space is not restricted. In this way, the building is divided into a plurality of spaces, i.e., a plurality of floors, and the divided floors can be defined as spatial planes in the model. The information for each spatial plane is then stored in a database. Illustratively, the storage information of a certain spatial plane in the database is: and identifying the number of the space plane, a map corresponding to the space plane, a floor number corresponding to the space plane and the like.

Then, a spatial region in the spatial data model is established. The spatial plane may be functionally divided. For example: the first floor is divided into an office area, a leisure area, a dining area and the like. Therefore, the spatial plane corresponding to the first floor can be divided into a plurality of spatial regions, which are spatial regions in the spatial data model. Storing the information of these spatial regions in a database, for example, the information stored in the database by a certain spatial region is: a number identifying the spatial region, a spatial region name, an upper spatial plane to which the spatial region belongs, a range on the map to which the spatial region corresponds (e.g., coordinates on the map), a functional description, and so forth.

Next, spatial point locations in the spatial data model are established. For example, the position of the camera on the first floor is taken as a key point, the key points are taken as spatial point locations, and the information of the spatial point locations is stored in the database, and the storage information of a certain spatial point location in the database is exemplarily: the number representing the spatial point location, the equipment number corresponding to the point location, the higher spatial region to which the point location belongs, the higher spatial plane to which the point location belongs, and the coordinates of the point location corresponding to the map.

Thus, the space digital modeling of the building is completed. It should be noted that, a map can be bound with the space digital model, and the map itself corresponds to the space plane information in the database, so that the map has the information of the space plane; polygons in the map correspond to spatial region information in the database, so that each polygon has information of a respective spatial region; and the point in the map corresponds to the space point location information, so that the point in the map has the space point location information.

In one possible implementation, the real physical space includes at least one of: communities, shopping malls, hospitals, schools, stations, etc. The embodiments of the present disclosure do not limit the specific state of the physical space.

Taking a residential property as an example, a residential district can be divided into an east district and a west district, and then the ground of the east district and the ground of the west district can be respectively defined as a space plane, and the two space planes divide the residential district into two spaces. Then, taking the east cell as an example, the east cell can be divided into a plurality of areas such as a floor 1, a floor 2, a leisure activity area, a centralized greening area, a parking lot, and the like according to the usage function, and the areas are associated with the spatial plane of the east cell, so that the spatial plane is divided into a plurality of spatial areas. Next, the positions of the image capturing devices disposed in the east cell may be used as the positions of the key points, and in the plurality of spatial regions obtained just before, the positions corresponding to the key points are determined, so as to obtain the spatial point positions of the image capturing devices in the spatial digital model. And the western cell repeats the steps to obtain a corresponding spatial plane, a spatial area and a spatial point position. In summary, the housing space data model is obtained.

Taking a shopping mall as an example, each floor of the shopping mall can be defined as a spatial plane. These spatial planes (floors) divide the shopping mall into a plurality of spaces. The individual floors can then be divided according to the category of the commercial, taking the first floor as an example: a cosmetic area, a footwear area, a clock area, etc., which are corresponding to the spatial plane of a single floor such that the spatial plane of the single floor is divided into a plurality of spatial areas; then, positions of image capturing devices, advertisement spaces, and the like provided on a single floor may be used as positions of key points, and positions corresponding to these key points are determined in a plurality of spatial regions on the single floor to obtain spatial point positions. Then, each floor is divided, so that each floor obtains a corresponding spatial plane, a spatial area and a spatial point, and further a spatial data model of the shopping center is obtained.

In step S12, spatial position information of the image-capturing device in the spatial data model is determined.

The position of the image acquisition device can correspond to a spatial point location in the spatial data model constructed in the above steps, a single spatial point location can correspond to one or more image acquisition devices, and a single image acquisition device can correspond to a spatial point location.

Then, by using the spatial position information of the spatial point location corresponding to the image device, the spatial position information corresponding to the image capturing device in the spatial data model may be determined, for example: the space point position, the space area and the space plane to which the image acquisition equipment belongs.

Illustratively, the shopping mall first floorA layer is defined as a first spatial plane (S)₁) (ii) a The cosmetic area of the first floor is defined as a first spatial area (A)₁) (ii) a Setting 5 image pickup devices in the cosmetics area (D)₁，D₂，D₃，D₄，D₅) And the image acquisition equipment 1 adjacent to the escalator is set as a key point 1, so that the position of the key point 1 can be defined as a first space point position (P) in the space data model₁). Cosmetic section D₁，D₂，D₃，D₄，D₅Are all equal to P₁And carrying out correspondence. Therefore, the spatial position information of the 5 image capturing devices of the cosmetic area can be determined as: first spatial plane-first spatial region-first spatial point location, i.e.: s₁-A₁-P₁。

In step S13, in the case where a target object is present in the image captured by the image capturing apparatus, the position of the target object is determined using the spatial position information.

When the target object appears in the image captured by the image capturing device, it is described that the target object appears in the space captured by the image capturing device. The spatial point location of the image device corresponding to the spatial data model may be utilized to determine spatial location information of the target object, where the spatial location information may include: the spatial region, spatial plane, spatial point location where the object appears. The target object here may be a person, a vehicle, an animal, a device, or the like.

For example, when the image pickup device D₃When the image containing the customer a is collected, the result is D₃Corresponding to a first spatial point position P in a spatial data model₁And D can be determined₃Has spatial position information of S₁-A₁-P₁. Therefore, it can be determined that the position of the customer a is S₁-A₁I.e. customer a is on the spatial plane S₁In the space region A₁Has appeared.

In an embodiment of the present disclosure, a spatial data model for characterizing a real physical space is constructed, the spatial data model including: spatial plane, spatial region, spatial point location; wherein the spatial plane comprises at least one spatial region, the spatial region comprising at least one spatial point location; then, determining the spatial position information of the image acquisition equipment in the spatial data model; and under the condition that a target object exists in the image acquired by the image acquisition equipment, determining the position of the target object by using the spatial position information. The spatial data model can correspond to any real physical space, has high universality, saves resources in spatial modeling, improves modeling efficiency, can be widely applied to various scenes, and greatly improves the efficiency of determining the position of a target object.

In a possible implementation, the spatial position information includes spatial regions corresponding to images acquired by the plurality of image acquisition devices, and the determining the position of the target object by using the spatial position information includes: a plurality of image capturing devices that determine that the target object is present in the captured image; and determining each spatial region through which the target object passes in sequence according to the appearance sequence of the target object in the plurality of image acquisition devices and each spatial region corresponding to the image acquired by the plurality of image acquisition devices.

When the target object exists in the images acquired by the image acquisition device, the image acquisition device corresponding to the images can be determined firstly. Then, the spatial position information of the target object in the spatial data model, i.e. the spatial region through which the target object passes in the spatial data model, is determined according to the spatial position information of the image acquisition device in the spatial data model. And then, determining the sequence of the target object passing through the space regions according to the sequence of the target object appearing in the images, and taking the sequence as the track of the rough target object.

For example, when the image capturing apparatus captures a person who enters the residential area abnormally, it may be determined that a plurality of images of the person are present, and the image capturing apparatus that captured the images is determined. According to the spatial position information of the image acquisition devices in the spatial data model, determining a spatial region where the person is located, for example: parking lots, building No. 1, and the like. Then, according to the time when the person is shot by the image devices, the sequence of the person passing through the space areas is determined, and further the motion track of the person in the residential area is obtained.

As shown in fig. 2, fig. 2 is a schematic diagram of a spatial plane, in which a plurality of spatial regions are divided by rectangles, a plurality of black dots indicate that a target object appears in the regions, and the plurality of regions are connected to obtain a motion trajectory of the target object in the spatial plane.

In the embodiment of the present disclosure, a plurality of image capturing devices for capturing an image by determining that a target object exists in the captured image; and then sequentially passing the target object through each space area according to the appearance sequence of the target object in the plurality of image acquisition devices and each space area corresponding to the images acquired by the plurality of image acquisition devices. Therefore, the position of the target object can be roughly and efficiently determined through the spatial data model, and the efficiency of obtaining the motion trail of the target object is improved.

In one possible embodiment, after the constructing the spatial data model for characterizing the real physical spatial location, the method further includes: acquiring a map of the real physical space, wherein the map comprises real physical space coordinates of each point; and establishing a mapping relation between the image coordinates of the image acquired by the image acquisition equipment and the real physical space coordinates in the map.

The map of the real physical space can accurately represent the position in the real physical space, and the position, the spatial distribution of the area, the spatial relationship of the object and the like of various objects in the real space are covered, for example: distance between two objects, object coordinates, area of region a, extent of region B, orientation of region a with respect to region B, etc.

In the embodiment of the present disclosure, each point in the map may correspond to each point in the image frame of the image capturing device one to one. As shown in fig. 3, the mapping relationship between the image coordinates and the real physical space coordinates can be obtained by calibrating the camera of the image capturing device to establish a mapping relationship (as an example only) between the image coordinates of the image (for example, the pixel rows and columns where the target object is located in the image) and the coordinates of the map.

In the process of establishing the mapping relation, the calibration plate can be arranged in a real space area corresponding to the picture of the image acquisition equipment, the calibration plate can contain the feature points, and the map coordinates (x) of the feature points can be obtained according to the map₁，y₁)、(x₂，y₂)、(x₃，y₃)……(x_n，y_n) Then, the calibration plate is photographed by an image pickup device to obtain a plurality of images including the calibration plate, feature points are detected in the images, and image coordinates (u) of the feature points are obtained₁，v₁)、(u₂，v₂)、(u₃，v₃)……(u_n，v_n)。

The above map coordinates and image coordinates have a one-to-one correspondence relationship, which can be described as: the image coordinates are M × map coordinates. Then, by using the known map coordinates and image coordinates of the feature points, the unknown M, which is the mapping relationship between the image coordinates of the image collected by the image collecting device and the real physical space coordinates, can be obtained.

In one possible implementation, the map includes engineering design drawings. The drawing is drawn by designers during engineering construction. The engineering design drawing may be, for example: hand drawing engineering plane drawing, Computer Aided Design (CAD) drawing made by Computer Aided Design software.

In a possible embodiment, the determining the position of the target object by using the spatial position information includes: determining target image coordinates of a target object in an image acquired by image acquisition equipment; and determining real physical space coordinates corresponding to the target image coordinates based on the mapping relation.

When the target object appears in the image captured by the image capturing apparatus, the image coordinates of the target object in the image may be acquired. And then determining the coordinates of the target object in the real physical space, namely the coordinates in the map according to the mapping relation between the image coordinates and the real physical space coordinates.

Exemplarily, as shown in fig. 4, according to an image acquired by an image acquisition device of a vegetable area in a supermarket, the area is determined in a map, and a coordinate mapping matrix of an image coordinate of a midpoint in the image of the area and the midpoint in the map is established, so as to obtain a mapping relationship between the image coordinate and the map coordinate. As shown in fig. 5, when the target object appears in the image captured by the image capturing device in the area, the image coordinates of the target object are determined, and then the map coordinates of the target object are determined according to the mapping relationship, so that the accurate movement track of the target object in the map is obtained.

In the embodiment of the disclosure, the target image coordinates of a target object in an image acquired by an image acquisition device are determined; and determining real physical space coordinates corresponding to the target image coordinates based on the mapping relation. Therefore, by establishing the mapping relation between the image coordinates and the map coordinates, the accurate position of the target object in the map can be efficiently obtained on the basis of the image acquired by the image acquisition equipment.

In one possible implementation, after the obtaining the map of the real physical space, the method further includes: establishing an association between the spatial data model and the map; the establishing of the association between the spatial data model and the map comprises: establishing a spatial association between the planar space and the map; establishing regional associations between the regional space and regions on the map; and establishing point location association between the spatial point location and each point location on the map.

Each spatial plane may correspond to a map, such that the spatial planes correspond to the maps one-to-one. In this way, a spatial association between the spatial plane and the map is established. For example: the spatial plane of the first floor of the shopping mall is associated with the map of the first floor, and the spatial plane of the parking lot in the cell is associated with the map of the parking lot.

After the spatial plane is spatially associated with the map, each spatial region in the spatial plane may be associated with a mapAnd carrying out one-to-one association with each polygon in the map so as to complete the area association. After region association, the polygons in the map will correspond to the fear regions in the spatial data model, e.g., polygon 1 corresponds to spatial plane S₁Spatial area A of (A)₁。

Because each point in the map corresponds to each point in the space plane in the space data model one by one, the corresponding point of the space point position in the map can be determined, and then the coordinate of the center point in the map is obtained, so that the correlation between the space point position and the real physical space coordinate is realized. Therefore, the space point position in the space data model and the real physical space have a mapping relation, and the position of the target object in the real physical space is conveniently stored in the space digital model in the follow-up process.

In one possible implementation, after the establishing the association between the spatial data model and the map, the method further includes: determining a target plane space, a target plane area and a target plane point position of the real space coordinate of the target object in the spatial data model according to the association between the spatial data model and the map; and storing the target space plane, the target space area and the target space point location by using the space data model.

After the association between the spatial data model and the map is established, the spatial point position of the target object in the spatial data model can be determined according to the coordinates of the target object in the real physical space, for example: after obtaining the image coordinates of an object in the image, the map coordinates (x, y) of the object can be further obtained according to the mapping relationship, and then the target space plane S of the point in the space data model can be obtained according to the association relationship (plane association, area association, point association) between the space data model and the map₂Target space region A₂Target space point P₂。

After determining the target space plane, the target space area and the target space point location of the real space coordinate of the target object in the space data model, the space data model can be used for aligning the target space plane, the target space area and the targetAnd storing the spatial point positions. For example, for the map coordinates (x, y) of the object determined in the previous example, its location in the data space model may be stored as ((x, y); S₂–A₂–P₂)。

Under the condition that the target object moves, a plurality of target space point positions can be obtained, and each target space point position corresponds to the coordinate of the corresponding real physical space, so that the motion trail of the target object is accurately determined. And then, the target space point positions are stored, so that the subsequent user can conveniently check the target space point positions, and the accurate track of the target object is obtained. For example, the trajectory of target object a may be accurately restored to P1 (X)₁,Y₁)->P2(X₂,Y₂)->…->PN(X_N,Y_N)。

In the embodiment of the present disclosure, a target space plane, a target space area, and a target space point of the real space coordinate of the target object in the spatial data model are determined according to the association between the spatial data model and the map; and storing the target space plane, the target space area and the target space point location by using the space data model. Therefore, the fine-grained motion tracks of the entity elements such as the people and the vehicles in the physical space can be stored, the follow-up checking is convenient, and the fine-grained motion tracks of the entity elements such as the people and the vehicles in the physical space can be restored.

An application scenario of the embodiment of the present disclosure is explained below. The real physical space in the application scene is a community. In this application scenario, the target position determination method includes: constructing a spatial data model for representing a real physical space of a community; obtaining a CAD map of the community; establishing association between the spatial data model and a CAD map; and establishing a mapping relation between the image coordinates of the images acquired by the image acquisition equipment in the community and the coordinates in the CAD map.

After the association is established, when the target object appears in the image acquired by the image acquisition device, the target image coordinates of the target object in the image acquired by the image acquisition device can be determined. And determining real physical space coordinates in the CAD map corresponding to the target image coordinates based on the constructed mapping relation. And then determining a target space plane, a target space area and a target space point location of the real space coordinate of the target object in a space data model, and storing the target space plane, the target space area and the target space point location by using the space data model, so that the follow-up user can conveniently check the target space plane, the target space area and the target space point location, and the motion trail of the target object can be obtained.

In the embodiment of the disclosure, according to the image of the target object acquired by the image acquisition device, the time of acquiring the image, the spatial data model for representing the real physical space of the community, and the CAD map of the real physical space, a plurality of target space point locations of the target object can be accurately determined, and then the target object, the image acquisition device, the time, and the behavior of the target object are associated, so that the trajectory restoration of the target object in the real physical space is realized.

Illustratively, a shopping mall first floor footwear zone camera 11:07 am captures a picture of a target customer falling, the customer has a rest in place for 5 minutes, a clock zone camera 11:15 am captures a picture of the customer, and after 1 minute, the customer falls. By using the method of the embodiment of the disclosure, the coordinates of the customer can be obtained, and the information of the target space, the target area and the target point location can be obtained; and the time of the camera for collecting the images and the behavior action of the customer in the picture information are added, so that the motion trail of the customer in the first floor of the center is truly reproduced.

It is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted. Those skilled in the art will appreciate that in the above methods of the specific embodiments, the specific order of execution of the steps should be determined by their function and possibly their inherent logic.

In addition, the present disclosure also provides a target object position determining apparatus, an electronic device, a computer-readable storage medium, and a program, which can all be used to implement any one of the target object position determining methods provided by the present disclosure, and the corresponding technical solutions and descriptions and corresponding descriptions in the methods section are omitted for brevity.

Fig. 6 shows a block diagram of a target object position determination apparatus according to an embodiment of the present disclosure, which, as shown in fig. 6, includes:

a model construction unit 61 configured to construct a spatial data model for characterizing a real physical space, the spatial data model comprising: spatial plane, spatial region, spatial point location; wherein said spatial plane comprises at least one of said spatial regions, said spatial region comprising at least one of said spatial point locations;

a spatial position information determination unit 62 for determining spatial position information of the image acquisition device in the spatial data model;

a target object positioning unit 63, configured to determine a position of the target object by using the spatial position information when the target object exists in the image acquired by the image acquisition device.

In one possible implementation, the apparatus further includes:

In one possible implementation, the spatial location information unit includes:

In one possible implementation, the apparatus further includes:

the association unit includes:

In one possible implementation, the apparatus further includes:

In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.

Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above-mentioned method. The computer readable storage medium may be a non-volatile computer readable storage medium.

An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.

Embodiments of the present disclosure also provide a computer program product, which includes computer readable code, and when the computer readable code runs on a device, a processor in the device executes instructions for implementing the target object position determination method provided in any of the above embodiments.

The embodiments of the present disclosure also provide another computer program product for storing computer readable instructions, which when executed cause a computer to perform the operations of the target object position determination method provided in any of the above embodiments.

The electronic device may be provided as a terminal, server, or other form of device.

Fig. 7 illustrates a block diagram of an electronic device 800 in accordance with an embodiment of the disclosure. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.

Referring to fig. 7, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.

The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a Complementary Metal Oxide Semiconductor (CMOS) or Charge Coupled Device (CCD) image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as a wireless network (WiFi), a second generation mobile communication technology (2G) or a third generation mobile communication technology (3G), or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.

Fig. 8 illustrates a block diagram of an electronic device 1900 in accordance with an embodiment of the disclosure. For example, the electronic device 1900 may be provided as a server. Referring to fig. 8, electronic device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the above-described method.

The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system, such as the Microsoft Server operating system (Windows Server), stored in the memory 1932^TM) Apple Inc. of the present invention^TM) Multi-user, multi-process computer operating system (Unix)^TM) Free and open native code Unix-like operating System (Linux)^TM) Open native code Unix-like operating System (FreeBSD)^TM) Or the like.

In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1932, is also provided that includes computer program instructions executable by the processing component 1922 of the electronic device 1900 to perform the above-described methods.

The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for determining a position of a target object, comprising:

2. The method according to claim 1, wherein the spatial position information includes spatial regions corresponding to images acquired by the image acquisition device, and the determining the position of the target object by using the spatial position information includes:

3. The method of claim 1, wherein after said constructing a spatial data model for characterizing a true physical spatial location, the method further comprises:

acquiring a map of the real physical space, wherein the map comprises real physical space coordinates of each point;

4. The method of claim 3, wherein said determining the position of the target object using the spatial location information comprises:

determining target image coordinates of a target object in an image acquired by image acquisition equipment;

and determining real physical space coordinates corresponding to the target image coordinates based on the mapping relation.

5. The method according to any of claims 3 or 4, wherein after said obtaining the map of the real physical space, the method further comprises:

establishing an association between the spatial data model and the map;

the establishing of the association between the spatial data model and the map comprises:

establishing a spatial association between the spatial plane and the map;

establishing regional associations between the spatial regions and regions on the map;

and establishing point location association between the spatial point location and each point location on the map.

6. The method of claim 5, wherein after the establishing the association between the spatial data model and the map, the method further comprises:

determining a target space plane, a target space area and a target space point position of the real space coordinate of the target object in the space data model according to the association between the space data model and the map;

and storing the target space plane, the target space area and the target space point location by using the space data model.

7. A target object position determination apparatus, comprising:

8. The apparatus according to claim 7, wherein the spatial position information includes spatial regions corresponding to the images acquired by the image acquisition devices, and the spatial position determination unit includes:

9. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to invoke the memory-stored instructions to perform the method of any of claims 1 to 6.

10. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1 to 6.