CN116453065B - Road surface foreign matter throwing identification method and device, computer equipment and storage medium - Google Patents

Road surface foreign matter throwing identification method and device, computer equipment and storage medium Download PDF

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Publication number
CN116453065B
CN116453065B CN202310716860.4A CN202310716860A CN116453065B CN 116453065 B CN116453065 B CN 116453065B CN 202310716860 A CN202310716860 A CN 202310716860A CN 116453065 B CN116453065 B CN 116453065B
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tracking
time sequence
time
foreign matter
road surface
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CN116453065A (en
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储翔
周家伟
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Yuntu Information Technology Hangzhou Co ltd
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Yuntu Information Technology Hangzhou Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements

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Abstract

The application discloses a pavement foreign matter throwing identification method, a pavement foreign matter throwing identification device, computer equipment and a storage medium. The method comprises the following steps: acquiring a monitoring pavement image; identifying the monitoring pavement image to judge whether foreign matters exist in the monitoring pavement image; if yes, determining a time sequence of the foreign matter area ratio according to the identification result; tracking a time sequence, and performing an operation of removing influence on the time sequence with specified change in the tracking process to obtain a time sequence tracking graph; determining foreign matter occurrence time according to the time sequence tracking graph; and tracing the vehicle information on which the foreign matters are thrown and the road surface images corresponding to the foreign matters before and after the foreign matters are thrown according to the appearance time of the foreign matters so as to obtain a tracing result. By implementing the method, the road foreign matter throwing condition and the vehicle information can be identified and combined, the throwing source and the throwing treatment time can be traced, and the road foreign matter throwing condition and the throwing treatment condition can be accurately identified under the influence of complex road surfaces and various factors.

Description

Road surface foreign matter throwing identification method and device, computer equipment and storage medium
Technical Field
The present application relates to a target recognition method, and more particularly, to a road surface foreign matter throwing recognition method, a road surface foreign matter throwing recognition device, a computer device, and a storage medium.
Background
In urban construction projects, it is necessary to carry out a transport operation of the muck generated in the construction process by a muck truck. In the process of cleaning the slag soil of the vehicle, the condition that the slag soil is thrown and leaked due to the fact that the vehicle body is not shielded according to the regulations often exists, and environmental pollution and traffic hidden trouble are caused. However, the existing technical means can only detect and identify the foreign matters or the vehicle license plate singly, and it is difficult to combine the two detection modes to locate and trace the source vehicle causing pollution, while the traditional manual fixed-point inspection mode is time-consuming and labor-consuming, the inspection range is limited, and the source vehicle causing the slag soil to be thrown and leaked cannot be comprehensively and timely found and the responsibility is tracked. Moreover, the prior art does not have a method for monitoring whether objects thrown by road surface foreign matters are treated in time or not, and whether the treatment is qualified or not; in addition, because the road surface information is complex, after the road surface foreign matters are thrown, vehicles, people and light shadows can influence the image extraction of the foreign matters, and at present, no method is available for accurately reflecting the road surface foreign matters throwing condition and the throwing treatment condition under the condition that the complex factors influence, and the throwing source and the throwing treatment time are traced.
Therefore, it is necessary to design a new method to combine the road surface foreign matter throwing situation with the vehicle information identification, trace the throwing source and the throwing processing time, and accurately identify the road surface foreign matter throwing situation and the throwing processing situation under the influence of complex road surfaces and various factors.
Disclosure of Invention
The application aims to overcome the defects of the prior art and provides a pavement foreign matter throwing identification method, a pavement foreign matter throwing identification device, computer equipment and a storage medium.
In order to achieve the above purpose, the present application adopts the following technical scheme: the pavement foreign matter throwing identification method comprises the following steps:
acquiring a monitoring pavement image;
identifying the monitoring pavement image to judge whether foreign matters exist in the monitoring pavement image;
if the monitoring pavement image contains foreign matters, determining a time sequence of the area occupation ratio of the foreign matters according to the identification result;
tracking the time sequence, and performing an operation of removing influence on the time sequence with specified change in the tracking process to obtain a time sequence tracking graph;
determining foreign matter occurrence time according to the time sequence tracking graph;
and tracing the vehicle information on which the foreign matters are thrown and the road surface images corresponding to the foreign matters before and after the foreign matters are thrown according to the foreign matter occurrence time so as to obtain a tracing result.
The further technical scheme is as follows: the time sequence comprises the ratio of the foreign matter area to the total area of the monitoring road image at the time and corresponding time information.
The further technical scheme is as follows: the specified change comprises at least one of fluctuation change of the time sequence in the tracking process due to occlusion condition and change of the time sequence in the tracking process due to influence of light and shadow.
The further technical scheme is as follows: the operation of tracking the time sequence and removing influence on the time sequence with specified change in the tracking process is carried out to obtain a time sequence tracking diagram, which comprises the following steps:
and tracking the time sequence, and performing signal filtering operation on the time sequence with specified change in the tracking process to obtain a time sequence tracking graph.
The further technical scheme is as follows: the step of tracking the time sequence and performing signal filtering operation on the time sequence with specified change in the tracking process to obtain a time sequence tracking graph comprises the following steps:
and tracking the time sequence, filtering the time sequence which is subjected to fluctuation in an irregular form in the tracking process, and smoothing the high-frequency signal in the filtering by utilizing a time window to obtain a time sequence tracking graph.
The further technical scheme is as follows: the step of tracking the time sequence and performing signal filtering operation on the time sequence with specified change in the tracking process to obtain a time sequence tracking graph comprises the following steps:
and tracking the time sequence, performing a differential algorithm on the time sequence added with the low-frequency noise in the tracking process to determine the low-frequency noise, and filtering the low-frequency noise to obtain a time sequence tracking graph.
The further technical scheme is as follows: the determining foreign matter occurrence time according to the time sequence tracking graph comprises the following steps:
and determining the moment when the foreign matter area ratio change rate corresponding to the time sequence is larger than the high-frequency change threshold value so as to obtain the foreign matter appearance time.
The application also provides a road foreign matter throwing recognition device, which comprises:
the image acquisition unit is used for acquiring the monitoring pavement image;
the identification unit is used for identifying the monitoring pavement image so as to judge whether foreign matters exist in the monitoring pavement image;
a sequence determining unit, configured to determine a time sequence of the foreign matter area ratio according to the recognition result if the foreign matter exists in the monitoring road surface image;
the tracking unit is used for tracking the time sequence and performing an operation of removing influence on the time sequence with specified change in the tracking process so as to obtain a time sequence tracking graph;
a time determining unit for determining foreign matter occurrence time according to the time series trace map;
and the tracing unit is used for tracing the vehicle information on which the foreign matters are thrown and the road surface images corresponding to the foreign matters before and after the foreign matters are thrown according to the appearance time of the foreign matters so as to obtain tracing results.
The application also provides a computer device which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the method when executing the computer program.
The present application also provides a storage medium storing a computer program which, when executed by a processor, performs the above-described method.
Compared with the prior art, the application has the beneficial effects that: according to the application, the monitoring road surface image is utilized to identify the foreign matters, when the foreign matters appear on the road surface, the time sequence of the area ratio of the foreign matters is determined, the time sequence is tracked, the change of the time sequence is determined, the influence of shielding and light shadow on the time sequence is removed, the foreign matters appearance time and the foreign matters elimination time are determined from the time sequence tracking diagram, the vehicle information of throwing the foreign matters is identified by combining the image identification, the tracing is carried out, the road surface foreign matters throwing condition and the vehicle information identification are combined, the throwing source and the throwing treatment time are traced, and the road surface foreign matters throwing condition and the throwing treatment condition can be accurately identified under the influence of complex road surfaces and various factors.
The application is further described below with reference to the drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an application scenario of a pavement foreign matter throwing recognition method according to an embodiment of the present application;
fig. 2 is a flow chart of a method for identifying road surface foreign matter throwing according to an embodiment of the present application;
FIG. 3 is a schematic diagram of identifying a foreign object on a road surface according to an embodiment of the present application;
fig. 4 is a schematic diagram of identifying a road surface foreign matter when the road surface foreign matter is cleaned according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a time sequence of a foreign object cleaning process according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating foreign object identification when a road surface foreign object is not blocked according to an embodiment of the present application;
FIG. 7 is a schematic diagram illustrating foreign object identification when a road surface foreign object is blocked according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a time sequence in the case of shielding a foreign object according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a time sequence of the light and shade change according to an embodiment of the present application;
FIG. 10 is a schematic diagram of a time sequence in the case of adding a foreign object according to an embodiment of the present application;
FIG. 11 is a schematic block diagram of a road surface foreign matter throwing recognition device provided by an embodiment of the application;
fig. 12 is a schematic block diagram of a computer device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic diagram of an application scenario of a pavement foreign matter throwing recognition method according to an embodiment of the present application. Fig. 2 is a schematic flow chart of a road surface foreign matter throwing recognition method provided by an embodiment of the application. The pavement foreign matter throwing identification method is applied to the server. The server performs data interaction with the camera, acquires a monitoring video of a road surface from the camera, extracts a road monitoring image from the monitoring video, performs foreign matter identification, performs foreign matter tracking when foreign matters exist in the road, filters out influence of shielding, light and shadow and the like in the tracking process, traces back information such as foreign matter discovery time, cleaning time and vehicles for throwing the foreign matters, realizes combination of road surface foreign matter throwing condition and vehicle information identification, traces back throwing source and throwing treatment time, and can accurately identify road surface foreign matter throwing condition and throwing treatment condition under the influence of complex road surfaces and various factors.
Fig. 2 is a flow chart of a method for identifying road surface foreign matter throwing according to an embodiment of the present application. As shown in fig. 2, the method includes the following steps S110 to S160.
S110, acquiring a monitoring pavement image.
In this embodiment, the monitoring road surface image refers to an image frame extracted from a monitoring road surface video stream captured by a camera.
S120, identifying the monitoring pavement image to judge whether foreign matters exist in the monitoring pavement image.
In this embodiment, a foreign matter in the monitored road surface image is identified by using a foreign matter identification algorithm, such as object detection, etc., and it is determined whether the monitored road surface image has a foreign matter, and if the monitored road surface image does not have a foreign matter, the step S110 is performed.
And S130, if the foreign matter exists in the monitoring pavement image, determining a time sequence of the area ratio of the foreign matter according to the identification result.
In this embodiment, the time series includes a ratio of the foreign matter area at the time to the total area of the monitoring road image and corresponding time information.
In the present embodiment, the change in the area ratio over time is used to determine when the foreign matter is present and when the foreign matter is lost, and the effect on the foreign matter by the different influencing factors is reflected in the change in the area ratio of the foreign matter.
Specifically, a time sequence of the area ratio of the foreign matters is defined, the real-time state of the foreign matters are reflected through the change rule of the time sequence, and then the monitoring end is helped to trace back the source of the foreign matters, and the treatment state, the treatment time and the like of the foreign matters are checked.
The video stream reading and picture frame extraction technology is utilized, the image is identified by combining a foreign matter identification algorithm, whether the foreign matter exists in the image is judged, and if the foreign matter exists in the image, the foreign matter area is calculatedAnd the total area of the image->Ratio betweenAnd records the time information of the current video +.>Therefore, a time series of the foreign matter area ratio can be obtained。
S140, tracking the time sequence, and performing an operation of removing influence on the time sequence with specified change in the tracking process to obtain a time sequence tracking diagram.
In this embodiment, the time series trace refers to the time series left after removing the influence of the occlusion and the light shadow, and is a time series.
In one embodiment, at least one of fluctuation change of the time sequence in the tracking process due to shielding condition and change of the time sequence in the tracking process due to influence of light and shadow; specifically, the specified change includes at least one of a fluctuation of the time series in an irregular form during the tracking process, and a change of the time series generated after the low-frequency noise is added during the tracking process.
Specifically, the time sequence is tracked, and signal filtering operation is carried out on the time sequence with specified change in the tracking process, so as to obtain a time sequence tracking graph.
In this embodiment, the time sequence is tracked, the time sequence in which fluctuations occur in an irregular form in the tracking process is filtered, and the high-frequency signal in the filtering is smoothed by using a time window, so as to obtain a time sequence tracking graph.
And tracking the time sequence, performing a differential algorithm on the time sequence added with the low-frequency noise in the tracking process to determine the low-frequency noise, and filtering the low-frequency noise to obtain a time sequence tracking graph.
As shown in fig. 3 and fig. 4, when the foreign matter (wheel stain) on the road surface is flushed and cleaned by the environmental protection personnel, the trend of the change of the time sequence is shown in fig. 5, the time sequence is suddenly changed, the area ratio of the foreign matter is suddenly reduced, and the area ratio is unchanged after suddenly reduced, at this time, whether the current change of the area ratio is caused by cleaning the foreign matter or not can be determined by combining the gray level value of the image, if yes, the time point of suddenly reduced is the time point of foreign matter elimination.
As shown in fig. 6 to 8, when a foreign matter on a road surface is shielded by other objects such as a vehicle or a pedestrian, the foreign matter area ratio fluctuates in an irregular manner, but the fluctuation time is short, and it can be judged that the situation is an interference term. In this embodiment, to remove the influence of occlusion, the interference term is filtered by using a high-frequency signal, and a time window smoothing process is added.
As shown in fig. 9, when the foreign matter on the road surface is subjected to the light and shadow change, the foreign matter area ratio shows a slow wave change trend with time. When the illumination is weak, the foreign matter having a lighter color may be difficult to recognize, so that the area ratio of the foreign matter is reduced as a whole. In order to remove the influence of light and shadow, the embodiment adopts a differential algorithm to calculate the change rate of the area ratio of the foreign matters, and filters the signal wave band with lower change rate by a threshold judgment mode.
The differential formula is:
wherein, the liquid crystal display device comprises a liquid crystal display device,the foreign matter area ratio change rate; when->Below the low frequency change threshold +.>When the signal of the corresponding time series is filtered out.
As shown in fig. 10, when a foreign object just appears on the road surface, the area of the recognized foreign object increases suddenly and remains unchanged at a higher value. This isWhen the change rate c (t) of the foreign matter area ratio is larger than the high-frequency change threshold value by using the differential algorithmWhen the area of the foreign matter is changed, whether the gray value of the image is obviously changed or not is detected, if the gray value is not obviously changed, the signal indicates that a new foreign matter appears on a road surface, and an event alarm signal is sent out; when the gray value changes obviously, the signal formed after the light is switched from low to high or no light is considered to change.
S150, determining the appearance time of the foreign matters according to the time sequence tracking diagram.
In this embodiment, the time when the change rate of the foreign matter area ratio corresponding to the time series is greater than the high-frequency change threshold is determined to obtain the foreign matter appearance time.
In addition, it is necessary to perform double determination in combination with the gradation value of the image. If the change rate of the foreign matter area ratio corresponding to the time sequence is increased before and after the image gray value is not changed obviously, the current change rate of the foreign matter area ratio is indicated to be increased because of the new foreign matter, and the moment of abrupt change of the change rate of the foreign matter area ratio can be determined as the foreign matter appearance time.
S160, tracing the vehicle information on which the foreign matters are thrown and the road surface images corresponding to the foreign matters before and after the foreign matters are thrown according to the appearance time of the foreign matters so as to obtain a tracing result.
In this embodiment, the frame of monitoring road surface image corresponding to the appearance time of the foreign matters is extracted from the video stream, the vehicle that throws the foreign matters is identified from the frame of monitoring road surface image by using the vehicle identification algorithm, and the monitoring road surface image information before and after throwing is integrated to generate the tracing result.
In the embodiment, the video stream is continuously identified by a pavement foreign matter detection method, the change of the area ratio and distribution of the foreign matters is tracked, and the throwing behavior is found in time; the video circulation storage and the muck vehicle recognition and license plate recognition method are combined, and the source tracing and the vehicle information recognition of the muck vehicle are combined.
According to the road surface foreign matter throwing identification method, the monitoring road surface image is utilized to identify the foreign matters, when the foreign matters appear on the road surface, the time sequence of the area occupied ratio of the foreign matters is determined, the time sequence is tracked, the change of the time sequence is determined, the foreign matters appearance time and the foreign matters elimination time are determined from the time sequence tracking diagram after the influence of shielding and light shadow on the time sequence is removed, the image is combined to identify the vehicle information throwing the foreign matters, tracing is carried out, the combination of the road surface foreign matter throwing condition and the vehicle information identification is realized, the throwing source and the throwing treatment time are traced, and the road surface foreign matter throwing condition and the throwing treatment condition can be accurately identified under the influence of complex road surfaces and various factors.
Fig. 11 is a schematic block diagram of a road surface foreign matter throwing recognition apparatus 300 according to an embodiment of the present application. As shown in fig. 11, the present application also provides a road surface foreign matter shed identifying device 300 corresponding to the above road surface foreign matter shed identifying method. The road surface foreign matter throwing recognition apparatus 300 includes a unit for performing the above-described road surface foreign matter throwing recognition method, and may be configured in a server. Specifically, referring to fig. 7, the road surface foreign object throwing recognition apparatus 300 includes an image acquisition unit 301, a recognition unit 302, a sequence determination unit 303, a tracking unit 304, a time determination unit 305, and a tracing unit 306.
An image acquisition unit 301 for acquiring a monitoring road surface image; an identifying unit 302, configured to identify the monitoring road surface image, so as to determine whether a foreign object exists in the monitoring road surface image; a sequence determining unit 303, configured to determine a time sequence of the foreign object area ratio according to the recognition result if the foreign object exists in the monitoring road surface image; the tracking unit 304 is configured to track the time sequence, and perform an operation of removing an influence on the time sequence with a specified change in the tracking process, so as to obtain a time sequence tracking graph; a time determination unit 305 for determining a foreign matter occurrence time from the time series trace map; the tracing unit 306 is configured to trace back, according to the appearance time of the foreign object, vehicle information on which the foreign object is thrown and road surface images corresponding to the foreign object before and after the foreign object is thrown, so as to obtain a tracing result.
In an embodiment, the tracking unit 304 is configured to track the time sequence, and perform a signal filtering operation on the time sequence in which the specified change occurs in the tracking process, so as to obtain a time sequence tracking graph.
In an embodiment, the tracking unit 304 is configured to track the time sequence, filter the time sequence that fluctuates in an irregular manner during the tracking process, and smooth the high-frequency signal in the filtering by using a time window to obtain a time sequence tracking graph.
In an embodiment, the tracking unit 304 is configured to track the time sequence, determine low-frequency noise by performing a differential algorithm on the time sequence with the low-frequency noise added in the tracking process, and filter the low-frequency noise to obtain a time sequence tracking graph.
In an embodiment, the time determining unit 305 is configured to determine a time when the foreign object area ratio change rate corresponding to the time sequence is greater than the high frequency change threshold value, so as to obtain the foreign object appearance time.
It should be noted that, as those skilled in the art can clearly understand, the specific implementation process of the above-mentioned road surface foreign object throwing recognition device 300 and each unit may refer to the corresponding description in the foregoing method embodiment, and for convenience and brevity of description, the description is omitted here.
The road surface foreign matter throwing recognition apparatus 300 described above may be implemented in the form of a computer program that can be run on a computer device as shown in fig. 12.
Referring to fig. 12, fig. 12 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device 500 may be a server, where the server may be a stand-alone server or may be a server cluster formed by a plurality of servers.
With reference to FIG. 12, the computer device 500 includes a processor 502, memory, and a network interface 505 connected by a system bus 501, where the memory may include a non-volatile storage medium 503 and an internal memory 504.
The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions that, when executed, cause the processor 502 to perform a method of identifying road surface foreign object shed.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the execution of a computer program 5032 in the non-volatile storage medium 503, which computer program 5032, when executed by the processor 502, causes the processor 502 to perform a road surface foreign object shed identification method.
The network interface 505 is used for network communication with other devices. It will be appreciated by those skilled in the art that the architecture shown in fig. 8 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting of the computer device 500 to which the present inventive arrangements may be implemented, as a particular computer device 500 may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
Wherein the processor 502 is configured to execute a computer program 5032 stored in a memory to implement the steps of:
acquiring a monitoring pavement image; identifying the monitoring pavement image to judge whether foreign matters exist in the monitoring pavement image; if the monitoring pavement image contains foreign matters, determining a time sequence of the area occupation ratio of the foreign matters according to the identification result; tracking the time sequence, and performing an operation of removing influence on the time sequence with specified change in the tracking process to obtain a time sequence tracking graph; determining foreign matter occurrence time according to the time sequence tracking graph; and tracing the vehicle information on which the foreign matters are thrown and the road surface images corresponding to the foreign matters before and after the foreign matters are thrown according to the foreign matter occurrence time so as to obtain a tracing result.
The time sequence comprises the ratio of the foreign matter area to the total area of the monitoring road image at the time and corresponding time information.
The specified change comprises at least one of fluctuation change of the time sequence in the tracking process due to occlusion condition and change of the time sequence in the tracking process due to influence of light and shadow.
In one embodiment, when the processor 502 performs the operation of tracking the time sequence and removing the influence on the time sequence with the specified change in the tracking process to obtain the time sequence tracking graph, the following steps are specifically implemented:
and tracking the time sequence, and performing signal filtering operation on the time sequence with specified change in the tracking process to obtain a time sequence tracking graph.
In one embodiment, when the processor 502 performs the tracking of the time sequence and performs a signal filtering operation on the time sequence with the specified change in the tracking process to obtain a time sequence tracking graph, the following steps are specifically implemented:
and tracking the time sequence, filtering the time sequence which is subjected to fluctuation in an irregular form in the tracking process, and smoothing the high-frequency signal in the filtering by utilizing a time window to obtain a time sequence tracking graph.
In one embodiment, when the processor 502 performs the tracking of the time sequence and performs a signal filtering operation on the time sequence with the specified change in the tracking process to obtain a time sequence tracking graph, the following steps are specifically implemented:
and tracking the time sequence, performing a differential algorithm on the time sequence added with the low-frequency noise in the tracking process to determine the low-frequency noise, and filtering the low-frequency noise to obtain a time sequence tracking graph.
In one embodiment, when the step of determining the foreign object occurrence time according to the time series trace map is implemented by the processor 502, the following steps are specifically implemented:
and determining the moment when the foreign matter area ratio change rate corresponding to the time sequence is larger than the high-frequency change threshold value so as to obtain the foreign matter appearance time.
It should be appreciated that in an embodiment of the application, the processor 502 may be a central processing unit (Central Processing Unit, CPU), the processor 502 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Those skilled in the art will appreciate that all or part of the flow in a method embodying the above described embodiments may be accomplished by computer programs instructing the relevant hardware. The computer program comprises program instructions, and the computer program can be stored in a storage medium, which is a computer readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the flow steps of the embodiments of the method described above.
Accordingly, the present application also provides a storage medium. The storage medium may be a computer readable storage medium. The storage medium stores a computer program which, when executed by a processor, causes the processor to perform the steps of:
acquiring a monitoring pavement image; identifying the monitoring pavement image to judge whether foreign matters exist in the monitoring pavement image; if the monitoring pavement image contains foreign matters, determining a time sequence of the area occupation ratio of the foreign matters according to the identification result; tracking the time sequence, and performing an operation of removing influence on the time sequence with specified change in the tracking process to obtain a time sequence tracking graph; determining foreign matter occurrence time according to the time sequence tracking graph; and tracing the vehicle information on which the foreign matters are thrown and the road surface images corresponding to the foreign matters before and after the foreign matters are thrown according to the foreign matter occurrence time so as to obtain a tracing result.
The time sequence comprises the ratio of the foreign matter area to the total area of the monitoring road image at the time and corresponding time information.
The specified change comprises at least one of fluctuation change of the time sequence in the tracking process due to occlusion condition and change of the time sequence in the tracking process due to influence of light and shadow.
In one embodiment, when the processor executes the computer program to implement the tracking of the time sequence and performs an operation of removing an influence on the time sequence in which a specified change occurs in the tracking process, so as to obtain a time sequence tracking graph, the following steps are specifically implemented:
and tracking the time sequence, and performing signal filtering operation on the time sequence with specified change in the tracking process to obtain a time sequence tracking graph.
In one embodiment, when the processor executes the computer program to implement the tracking of the time sequence, and performs a signal filtering operation on the time sequence with a specified change in the tracking process to obtain a time sequence tracking graph, the following steps are specifically implemented:
and tracking the time sequence, filtering the time sequence which is subjected to fluctuation in an irregular form in the tracking process, and smoothing the high-frequency signal in the filtering by utilizing a time window to obtain a time sequence tracking graph.
In one embodiment, when the processor executes the computer program to implement the tracking of the time sequence, and performs a signal filtering operation on the time sequence with a specified change in the tracking process to obtain a time sequence tracking graph, the following steps are specifically implemented:
and tracking the time sequence, performing a differential algorithm on the time sequence added with the low-frequency noise in the tracking process to determine the low-frequency noise, and filtering the low-frequency noise to obtain a time sequence tracking graph.
In one embodiment, when the processor executes the computer program to implement the step of determining the foreign object occurrence time according to the time series trace map, the steps are specifically implemented as follows:
and determining the moment when the area change rate corresponding to the time sequence is greater than the set threshold value so as to obtain the foreign matter appearance time.
The storage medium may be a U-disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, or other various computer-readable storage media that can store program codes.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the 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 solution. 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.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed.
The steps in the method of the embodiment of the application can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the application can be combined, divided and deleted according to actual needs. In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The integrated unit may be stored in a storage medium if implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a terminal, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application.
While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (9)

1. The pavement foreign matter throwing recognition method is characterized by comprising the following steps of:
acquiring a monitoring pavement image;
identifying the monitoring pavement image to judge whether foreign matters exist in the monitoring pavement image;
if the monitoring pavement image contains foreign matters, determining a time sequence of the area occupation ratio of the foreign matters according to the identification result; the time sequence comprises the ratio of the foreign matter area to the total area of the monitoring road image at the time and corresponding time information;
tracking the time sequence, and performing an operation of removing influence on the time sequence with specified change in the tracking process to obtain a time sequence tracking graph;
determining foreign matter occurrence time according to the time sequence tracking graph;
and tracing the vehicle information on which the foreign matters are thrown and the road surface images corresponding to the foreign matters before and after the foreign matters are thrown according to the foreign matter occurrence time so as to obtain a tracing result.
2. The method according to claim 1, wherein the specified change includes at least one of a fluctuation change of the time series due to a shielding condition during tracking and a change of the time series due to influence of light and shadow during tracking.
3. The method for identifying the foreign object on the road surface according to claim 1, wherein the steps of tracking the time series and performing an operation of removing an influence on the time series in which a specified change occurs in the tracking process to obtain a time series tracking map include:
and tracking the time sequence, and performing signal filtering operation on the time sequence with specified change in the tracking process to obtain a time sequence tracking graph.
4. The method for identifying road surface foreign matter throwing according to claim 3, wherein said tracking said time series and performing a signal filtering operation on the time series in which a specified change occurs during the tracking process to obtain a time series tracking map comprises:
and tracking the time sequence, filtering the time sequence which is subjected to fluctuation in an irregular form in the tracking process, and smoothing the high-frequency signal in the filtering by utilizing a time window to obtain a time sequence tracking graph.
5. The method for identifying road surface foreign matter throwing according to claim 3, wherein said tracking said time series and performing a signal filtering operation on the time series in which a specified change occurs during the tracking process to obtain a time series tracking map comprises:
and tracking the time sequence, performing a differential algorithm on the time sequence added with the low-frequency noise in the tracking process to determine the low-frequency noise, and filtering the low-frequency noise to obtain a time sequence tracking graph.
6. The method for identifying the foreign matter on the road surface according to claim 1, wherein the determining the foreign matter occurrence time based on the time series trace map includes:
and determining the moment when the area change rate corresponding to the time sequence is greater than the set threshold value so as to obtain the foreign matter appearance time.
7. Road surface foreign matter throws recognition device, its characterized in that includes:
the image acquisition unit is used for acquiring the monitoring pavement image;
the identification unit is used for identifying the monitoring pavement image so as to judge whether foreign matters exist in the monitoring pavement image;
a sequence determining unit, configured to determine a time sequence of the foreign matter area ratio according to the recognition result if the foreign matter exists in the monitoring road surface image; the time sequence comprises the ratio of the foreign matter area to the total area of the monitoring road image at the time and corresponding time information;
the tracking unit is used for tracking the time sequence and performing an operation of removing influence on the time sequence with specified change in the tracking process so as to obtain a time sequence tracking graph;
a time determining unit for determining foreign matter occurrence time according to the time series trace map;
and the tracing unit is used for tracing the vehicle information on which the foreign matters are thrown and the road surface images corresponding to the foreign matters before and after the foreign matters are thrown according to the appearance time of the foreign matters so as to obtain tracing results.
8. A computer device, characterized in that it comprises a memory on which a computer program is stored and a processor which, when executing the computer program, implements the method according to any of claims 1-6.
9. A storage medium storing a computer program which, when executed by a processor, performs the method of any one of claims 1 to 6.
CN202310716860.4A 2023-06-16 2023-06-16 Road surface foreign matter throwing identification method and device, computer equipment and storage medium Active CN116453065B (en)

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