WO2020199776A1 - 货架空置率计算方法及装置、存储介质 - Google Patents
货架空置率计算方法及装置、存储介质 Download PDFInfo
- Publication number
- WO2020199776A1 WO2020199776A1 PCT/CN2020/075832 CN2020075832W WO2020199776A1 WO 2020199776 A1 WO2020199776 A1 WO 2020199776A1 CN 2020075832 W CN2020075832 W CN 2020075832W WO 2020199776 A1 WO2020199776 A1 WO 2020199776A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shelf
- point
- image
- area
- price tag
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/40—Analysis of texture
- G06T7/41—Analysis of texture based on statistical description of texture
- G06T7/45—Analysis of texture based on statistical description of texture using co-occurrence matrix computation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
- G06V10/462—Salient features, e.g. scale invariant feature transforms [SIFT]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
Definitions
- the present disclosure relates to the technical field of image processing, in particular to a method and device for calculating shelf vacancy rate, and a storage medium.
- one of the objectives of the embodiments of the present disclosure is to provide a method and device for calculating shelf vacancy rate, and a storage medium, which can optimize the method for calculating shelf vacancy rate to a certain extent.
- the first aspect of the embodiments of the present disclosure provides a method for calculating shelf vacancy rate, including:
- the product positioning area in the shelf image is calculated; the product positioning area is the product The area occupied by the placement area on the shelf in the shelf image;
- the method for calculating shelf vacancy rate further includes:
- the commodity zone marker information includes price tag backboard information and price tag information.
- detecting the price tag backboard information in the shelf image includes:
- the false price tag backplane edge straight line that is misdetected in the straight line detection result is removed, and the broken edge line of the price tag backplane is connected to obtain the label backplane of the shelf. Board information.
- detecting the price tag information in the shelf image includes:
- the suspected price tag area whose second correlation coefficient is greater than the preset coefficient threshold is a price tag.
- the product placement area includes four vertices, which are the first and second points near the outside of the shelf and the corresponding third and second points near the inside of the shelf in the shelf image. Four points; the lower edge of the shelf image coincides with the lower edge of the shelf, and the center point of the shelf image coincides with the center point of the shelf;
- Calculating the product placement area in the shelf image according to the information of the commodity zone markers, combined with the positional relationship between the camera and the shelf and the shooting angle of the camera, includes:
- the horizontal coordinates of the first point and the second point of the commodity seating area in the shelf image are combined to calculate the first The abscissa of the three points and the fourth point;
- the vertical coordinates of the first point and the second point of the commodity seating area in the shelf image are calculated to calculate Describe the ordinates of the third and fourth points.
- the method for calculating shelf vacancy rate further includes:
- the ordinates of the third point and the fourth point of the commodity seating area are greater than the ordinates of the first and second points of the commodity seating area of the previous shelf layer where it is located, then the upper The ordinates of the first point and the second point of the commodity seating area of a shelf layer are replaced with the ordinates of the third point and the fourth point of the commodity seating area;
- the shelf image is acquired by a camera.
- the first point and the second point of the product seating area are combined in the shelf image
- Calculating the ordinates of the third point and the fourth point includes calculating the ordinates of the third point and the fourth point according to the following formula:
- Y M represents the ordinate of the third point or the fourth point
- H represents the height of the shelf image
- ⁇ v represents the viewing angle range of the camera in the vertical direction
- tan represents the tangent function
- arctan represents anyway Tangent function
- d represents the depth of the shelf
- m represents the distance from the vertical projection point of the camera on the ground to the projection of the edge of the shelf close to the camera on the ground
- Y N represents the first point or the second
- the ordinate of the point h 0 represents the height of the camera above the shelf
- h represents the height of the shelf
- ⁇ represents the angle formed in the following way: the angle is the apex of the angle of the camera and the vertical of the camera on the ground The angle formed by the point where the projection point and the edge of the shelf close to the side of the imaging device on the ground projection is the point closest to the vertical projection point is the side of the angle.
- the horizontal position of the first point and the second point of the commodity seating area in the shelf image is combined. Coordinate, calculating the abscissa of the third point and the fourth point, including calculating the abscissa of the third point and the fourth point according to the following formula:
- X M represents the abscissa of the third point or the fourth point
- W represents the width of the shelf image
- ⁇ h represents the viewing angle range of the camera in the horizontal direction
- tan represents the tangent function
- arctan represents the arctangent.
- Function, d represents the depth of the shelf
- m represents the distance from the vertical projection point of the camera on the ground to the projection of the edge of the shelf near the camera on the ground
- X N represents the distance from the third point or the The abscissa of the first point or the second point corresponding to the fourth point.
- a second aspect of the embodiments of the present disclosure provides a shelf vacancy rate calculation device, including:
- the memory stores instructions that can be executed by the processor, and when the instructions are executed by the processor, the processor:
- the product positioning area in the shelf image is calculated; the product positioning area is the product The area occupied by the placement area on the shelf in the shelf image;
- the product location area is divided into a product area and a background area; and the shelf vacancy rate is calculated according to the ratio of the product area to the background area.
- the processor when the instruction is executed by the processor, the processor further causes the processor to send prompt information to a designated user if the shelf vacancy rate is greater than a preset vacancy rate threshold.
- the commodity zone marker information includes price tag backboard information and price tag information.
- the instructions when executed by the processor, also cause the processor to:
- the false price tag backplane edge straight line that is misdetected in the straight line detection result is removed, and the broken edge line of the price tag backplane is connected to obtain the label backplane of the shelf. Board information.
- the instructions when executed by the processor, also cause the processor to:
- the suspected price tag area whose second correlation coefficient is greater than the preset coefficient threshold is a price tag.
- the product placement area includes four vertices, which are the first and second points near the outside of the shelf and the corresponding third and second points near the inside of the shelf in the shelf image. Four points; the lower edge of the shelf image coincides with the lower edge of the shelf, and the center point of the shelf image coincides with the center point of the shelf;
- Calculating the product placement area in the shelf image according to the information of the commodity zone markers, combined with the positional relationship between the camera and the shelf and the shooting angle of the camera, includes:
- the horizontal coordinates of the first point and the second point of the commodity seating area in the shelf image are combined to calculate the first The abscissa of the three points and the fourth point;
- the vertical coordinates of the first point and the second point of the commodity seating area in the shelf image are calculated to calculate Describe the ordinates of the third and fourth points.
- the instructions when executed by the processor, also cause the processor to:
- the ordinates of the third point and the fourth point of the commodity seating area are greater than the ordinates of the first and second points of the commodity seating area of the previous shelf layer where it is located, then the upper The ordinates of the first point and the second point of the commodity seating area of a shelf layer are replaced with the ordinates of the first point and the second point of the commodity seating area;
- the processor when the instruction is executed by the processor, the processor also causes the processor to calculate the ordinates of the third point and the fourth point according to the following formula:
- Y M represents the ordinate of the third point or the fourth point
- H represents the height of the shelf image
- ⁇ v represents the viewing angle range of the camera in the vertical direction
- tan represents the tangent function
- arctan represents anyway Tangent function
- d represents the depth of the shelf
- m represents the distance from the vertical projection point of the camera on the ground to the projection of the edge of the shelf close to the camera on the ground
- Y N represents the first point or the second
- the ordinate of the point h 0 represents the height of the camera above the shelf
- h represents the height of the shelf
- ⁇ represents the angle formed in the following way: the angle is the apex of the angle of the camera and the vertical of the camera on the ground The angle formed by the point where the projection point and the edge of the shelf close to the side of the imaging device on the ground projection is the point closest to the vertical projection point is the side of the angle.
- the processor when the instruction is executed by the processor, the processor also causes the processor to calculate the abscissa of the third point and the fourth point according to the following formula:
- X M represents the abscissa of the third point or the fourth point
- W represents the width of the shelf image
- ⁇ h represents the viewing angle range of the camera in the horizontal direction
- tan represents the tangent function
- arctan represents the arctangent.
- Function, d represents the depth of the shelf
- m represents the distance from the vertical projection point of the camera on the ground to the projection of the edge of the shelf near the camera on the ground
- X N represents the distance from the third point or the The abscissa of the first point or the second point corresponding to the fourth point.
- the third aspect of the embodiments of the present disclosure provides a computer-readable storage medium storing a computer program, wherein the computer program implements the steps of the shelf vacancy rate calculation method when the computer program is executed by a processor.
- FIG. 1 is a schematic flowchart of a method for calculating shelf vacancy rate in an embodiment of the disclosure
- 2A is a schematic side view of the positional relationship between the shelf and the camera in an embodiment of the disclosure
- 2B is a schematic diagram of shelf images in an embodiment of the disclosure.
- FIG. 2C is an enlarged schematic diagram of an image of a single-layer shelf in an embodiment of the disclosure.
- 2D is a schematic top view of the positional relationship between the shelf and the camera in an embodiment of the disclosure
- 2E is a schematic diagram of detecting a straight edge of a label backplane in an embodiment of the disclosure
- FIG. 3A is a schematic diagram of a process of detecting a price tag in an embodiment of the disclosure
- 3B is a schematic flowchart of the first correlation coefficient calculation process in an embodiment of the disclosure.
- FIG. 3C is a schematic diagram of a specific flow of the step of determining a price tag in an embodiment of the present disclosure
- FIG. 3D is a schematic flowchart of an embodiment of calculating a commodity seating area in an embodiment of the disclosure
- 3E is a schematic flowchart of another embodiment of calculating a commodity seating area in an embodiment of the disclosure.
- FIG. 4 is a schematic diagram of functional modules of the device for calculating shelf vacancy rate in an embodiment of the disclosure
- FIG. 5 is a schematic diagram of the hardware structure of the device for executing the method for calculating the shelf vacancy rate in an embodiment of the disclosure.
- a method for calculating shelf vacancy rate is proposed, which can optimize the method for calculating shelf vacancy rate to a certain extent.
- the method for calculating shelf vacancy rate includes the following steps:
- Step 11 Use the camera to collect shelf images.
- the shelf image may be obtained from other devices.
- the shelf image may be obtained from a remote server, generated in real time in a virtual reality (VR) environment, copied through, for example, a portable storage, or the like.
- VR virtual reality
- the photographing device may use a device that can collect images such as a camera, and the shelf image is an image of a shelf whose shelf vacancy is to be analyzed.
- the rectangle BHJC represents the side of the shelf
- point O is the location of the camera
- K is the vertical projection of point O on the ground
- the height of the shelf is h
- the depth of the shelf is d
- the point K to J (for example, point J is the shelf
- the distance between the edge on the vertical projection of the ground near the edge of the camera and the point K) is m
- the height difference between the camera and the top of the shelf is h 0 .
- the aforementioned parameters can be obtained through pre-measurement.
- the installation requirements of the photographing device may be:
- the lower edge of the shelf image coincides with the lower edge of the shelf, that is, the shelf is parallel to the horizontal direction of the shelf image, and the lower edge of the shelf is the viewing angle of the photographing device
- the upper edge of the shelf is in the shelf image, that is, the upper limit of the viewing angle of the camera is higher than the upper edge of the shelf;
- the camera In the horizontal direction, the camera is directly facing the middle point of the shelf, that is, the center point of the shelf image coincides with the center point of the shelf.
- Step 12 Detect the product partition marker information in the shelf image.
- the commodity zone marker is mainly the price tag of the commodity. Because for most shelves, each displayed commodity corresponds to a price tag, so the position of the commodity can be determined based on the position of the price tag in the shelf image. distribution area.
- the method used in price tag detection can be combined with edge detection, template matching and other methods.
- the commodity zone marker information includes price tag backboard information and price tag information. In this way, based on the price tag backboard information and the price tag information, the product zoning information can be obtained, which can better realize the product zoning.
- the price tag backboard is a rectangular area where the price tag is placed between the two shelves.
- the price tag backboard area is distinguished from other areas of the shelf.
- the input of the price tag backplane detection is the shelf image, and the output is the 4 edge line segment information of the price tag backplane.
- detecting the price tag backboard information in the shelf image includes:
- the straight line detection method here can be implemented by using Canny algorithm, Sobel operator, Laplacian operator, Hough transform algorithm and other algorithms;
- the false price tag backplane edge straight line that is misdetected in the straight line detection result is removed, and the broken edge line of the price tag backplane is connected to obtain the label backplane of the shelf. Board information.
- a line diagram of the label backplane 220 as shown in FIG. 2E may be obtained.
- the line graph may include, for example, the detected actual edge line 260 of the label backplane 220, the broken portion 270 of the missed edge line, and/or the misdetected non-edge line 280.
- the false detection and/or missed detection of the edge line including (but not limited to): light changes, obstructions, excessive image preprocessing, and so on.
- the method of removing the line edge of the false label backplane detected by mistake may include (but is not limited to), for example, judging the line length, and comparing it or its ratio with respect to the width (or height) of the shelf image
- the predetermined threshold value is compared, and when it is less than the predetermined threshold value, it can be regarded as a falsely detected false label backplane edge straight line. This is because, usually, the label backplane traverses the entire shelf image, so the length of the edge line of the label backplane or its ratio relative to the shelf image should be large enough.
- the label backplane is usually rectangular (or trapezoidal due to image distortion)
- a certain edge line cannot form a rectangular (or trapezoidal) shape with other edge lines, then It can be regarded as a line of false label backplane edge detected by mistake.
- the method of judging whether it is the edge of the pseudo-label backplane is not limited to the above-mentioned embodiment.
- the two edge straight lines are judged to have a disconnection less than the threshold length on substantially one straight line, they can be regarded as the edge straight line missed detection, and they are automatically connected into one line. straight line.
- the shelf image By detecting the information on the backboard of the price tag, the shelf image can be separated by layers accordingly, so that the ordinate of the price tag in the shelf image can be obtained.
- detecting the price tag information in the shelf image includes:
- Step 121 Obtain the price tag template image.
- the price tag template image may be collected in advance according to the pattern of the commodity price tag actually used.
- the price tag template image can be obtained by replacing specific words with symbols.
- the price tag template images of different layers on the shelf can be extracted from top to bottom.
- Step 122 Extract the first image features of the price tag template image and the shelf image.
- the first image feature is an image feature including at least one of a brightness feature, a color feature, a direction feature, and a gradient feature.
- the method for extracting the brightness feature includes:
- the price tag template image and the shelf image are color images, calculate the gray average of the three color channels of red, green and blue (RGB) and generate a gray image, and normalize the gray image, That is, divide the image pixel value by the maximum value of the image pixel to obtain the brightness characteristic image;
- RGB red, green and blue
- the price tag template image and the shelf image are grayscale images, then the grayscale images are normalized to obtain brightness characteristics.
- the method for extracting the color feature includes:
- the red channel of the marked image is at the pixel point (x, y)
- the pixel value is r
- the pixel value of the green channel at the pixel point (x, y) is g
- the pixel value of the blue channel at the pixel point (x, y) is b
- the 4 dimensions below the pixel point (x, y) are extracted Color characteristics:
- the above operations are performed on all the pixels in the image to generate the corresponding four color feature images, and the above four color feature images are respectively normalized to obtain the color features.
- the method for extracting the direction feature includes:
- the Gabor wavelet transform is used to extract the features of the price tag template image and the shelf image in four directions of 0 degree, 35 degrees, 90 degrees, and 135 degrees, and normalize them to obtain the directional characteristics.
- the method for extracting the gradient feature includes:
- the price tag template image and the shelf image are color images, grayscale the image into a grayscale image; extract the gradient amplitude feature of the grayscale image, and normalize it to obtain the gradient feature;
- the gradient feature of the grayscale image is directly extracted and normalized to obtain the gradient feature.
- the gradient of the image function f(x, y) at the point (x, y) is a vector with magnitude and direction.
- the vector be Gx and Gy, Gx and Gy denote the gradient in the x direction and the y direction, respectively.
- the vector of this gradient can be expressed as:
- the direction angle is:
- the direction of the gradient is the fastest changing direction of the function f(x, y).
- f(x, y) When there are edges in the image, there must be a larger gradient value. On the contrary, when there are relatively smooth parts in the image, the gray value changes less , The corresponding gradient is also small.
- the mode of the gradient is referred to as gradient, and the image composed of image gradient is called gradient image.
- first image feature including the features of brightness, color, direction, and gradient is not the only embodiment of the present disclosure.
- the features included in the first image feature can be adjusted as needed, such as adding Other features or deletion of features, etc.
- Step 123 According to the first image feature of the price tag template image and the shelf image, calculate a first correlation coefficient, and generate a price tag saliency map.
- calculating the first correlation coefficient according to the first image feature of the price tag template image and the shelf image includes:
- Step 1231 Move the price tag template image in pixels on the shelf image to traverse the shelf image
- Step 1232 Calculate the first correlation coefficient between the price tag template image and the shelf image covered by it after each movement, that is, calculate the price tag template image and its covered shelf image once for each movement. The first correlation coefficient between the shelf images.
- the first correlation coefficient between the price tag template image and the shelf image covered by it is calculated once, so that at each position A first correlation coefficient is calculated separately, all the first correlation coefficients are combined, and the position on the shelf image moved by the center point of the price tag template image corresponding to the first correlation coefficient is combined to generate a price tag saliency map.
- Step 124 Perform adaptive threshold segmentation on the price tag saliency map to obtain a set of center points of the suspected price tag area.
- Step 125 Determine the suspected price tag area in the shelf image according to the central point set of the suspected price tag area.
- the price tag saliency map is generated according to the first correlation coefficient and the position on the shelf image of the center point of the price tag template image corresponding to the first correlation coefficient, that is, the plane coordinates of the points of the price tag saliency map Is the position where the center point of the price tag template image corresponding to the first correlation coefficient is moved to the shelf image.
- the points on the price tag saliency map obtained by adaptive threshold segmentation and screening are a collection of discrete points , And the area with these points as the center point and the size of the price tag template image as the size is the suspect price tag area.
- the adaptive threshold segmentation is performed on the price tag saliency map to obtain the center point set of the suspected price tag area, including:
- Binary segmentation is performed on the price tag saliency map using an adaptive threshold segmentation algorithm (such as OTSU, also known as the Otsu method or the maximum between-class variance method), where the foreground area is the set of center points of the suspected price tag area.
- OTSU adaptive threshold segmentation algorithm
- the foreground area is the set of center points of the suspected price tag area.
- Step 126 Extract the second image feature of the suspected price tag area and the price tag template image.
- the step of extracting the second image feature of the suspected price tag area can also be obtained by processing the entire shelf image (which contains the suspected price tag area) in advance, and can be processed in advance (that is, one The second image feature is extracted from the shelf image at the beginning, instead of extracting after the suspected price tag area is obtained), and it is not limited to only extracting the second image feature from the suspected price tag area.
- these two second image feature extraction methods can be applied to the present disclosure, and are not specifically limited here.
- the second image feature is a texture feature including at least one of angular second moment feature, contrast feature, inverse moment feature, correlation feature, and entropy feature.
- the method of extracting the texture feature includes:
- the Gray Level Co-occurrence Matrix refers to a common method for describing texture by studying the spatial correlation characteristics of gray levels. Since the texture is formed by the repeated occurrence of grayscale distribution in space, there will be a certain grayscale relationship between two pixels separated by a certain distance in the image space, that is, the spatial correlation characteristics of the grayscale in the image.
- the gray-level histogram is the statistical result of a single pixel on the image with a certain gray-level, while the gray-level co-occurrence matrix is obtained by statistically calculating the status of two pixels that maintain a certain distance on the image with a certain gray-level.
- the gray level co-occurrence matrix generation is briefly introduced as follows:
- the distance difference value (a, b) takes different numerical combinations to obtain the joint probability matrix in different situations.
- the value of (a, b) should be selected according to the characteristics of the texture period distribution. For finer textures, small difference values such as (1, 0), (1, 1), (2, 0) are selected.
- the probability of two pixel gray levels occurring at the same time transforms the spatial coordinates of (x, y) into the description of "gray pair" (g1, g2), forming a gray level co-occurrence matrix.
- the diagonal elements of the gray-level co-occurrence matrix will have relatively large values; if the gray values of the image pixels change locally, they will deviate from the diagonal The elements of the line will have larger values.
- some scalars can be used to characterize the characteristics of the gray-level co-occurrence matrix.
- G denote the gray-level co-occurrence matrix.
- the ASM has a larger Value
- the value distribution in G is more uniform (such as an image with severe noise)
- the angular second-order moment is the sum of the squares of the element values of the gray-level co-occurrence matrix, so it is also called energy, which reflects the uniformity of the image grayscale distribution and the thickness of the texture.
- energy which reflects the uniformity of the image grayscale distribution and the thickness of the texture.
- the ASM value is small; on the contrary, if some of the values are large and other values are small, the ASM value is large.
- the elements in the co-occurrence matrix are concentratedly distributed, the ASM value is large at this time.
- a large ASM value indicates a more uniform and regular texture pattern.
- Contrast reflects the sharpness of the image and the depth of texture grooves. The deeper the texture groove, the greater the contrast, and the clearer the visual effect; on the contrary, the lower the contrast, the shallower the groove and the blurry effect.
- the inverse error moment reflects the homogeneity of the image texture and measures how much the image texture changes locally.
- the inverse moment reflects the clarity and regularity of the texture. The texture is clear, regular, easy to describe, and the value is large; the value is small for the messy and difficult to describe. A large value indicates that the image texture lacks changes between different regions, and the local is very uniform.
- Correlation reflects the consistency of image texture and is used to measure the degree of similarity of image gray levels in the row or column direction. Therefore, the value of the value reflects the local gray correlation. The larger the value, the greater the correlation. If there are horizontal textures in the image, the COR of the horizontal matrix is greater than the COR values of the remaining matrices. It measures the degree of similarity of spatial gray-level co-occurrence matrix elements in the row or column direction. Therefore, the correlation value reflects the local gray-level correlation in the image. When the matrix element values are uniformly equal, the correlation value is large; on the contrary, if the matrix pixel values differ greatly, the correlation value is small.
- the entropy will have a larger value.
- Entropy is a measure of the amount of information the image has. Texture information also belongs to the information of the image. It is a measure of randomness. When all elements in the co-occurrence matrix have the greatest randomness and all values in the spatial co-occurrence matrix are almost equal, the co-occurrence matrix When the middle elements are dispersed, the entropy is larger. It represents the degree of non-uniformity or complexity of the texture in the image.
- a feature vector can be used to integrate the above features.
- the integrated feature vector can be regarded as a description of the image texture, which can be further used for classification, identification, retrieval, etc.
- Step 127 Calculate a second correlation coefficient according to the second image feature of the suspected price tag area and the price tag template image.
- Step 128 Determine that the suspected price tag area with the second correlation coefficient greater than the preset coefficient threshold is the price tag.
- the determining that the suspected price tag area where the second correlation coefficient is greater than the preset coefficient threshold is a price tag, including:
- Step 1281 Sort the suspected price tag regions according to their first correlation coefficient from large to small;
- Step 1282 Calculate the second correlation coefficient between each suspected price tag area and the second image feature of the price tag template image in sequence according to the arrangement order;
- Step 1283 Determine the suspected price tag area with the second correlation coefficient greater than the preset coefficient threshold as the price tag, and stop the calculation of the second correlation coefficient when the second correlation coefficient is less than the preset coefficient threshold. In this way, calculation time can be saved and calculation efficiency improved.
- the preset coefficient threshold can be set as required, such as 0.8, but it is not specifically limited here.
- the first correlation coefficient is calculated, and the price tag saliency map is generated, and then the suspected price tag area is obtained according to the price tag saliency map, and then the suspected price tag area and the
- the second image feature of the price tag template is calculated and the second correlation coefficient of the two is calculated, and finally the suspected price tag area with the second correlation coefficient greater than the preset coefficient threshold is determined as the price tag.
- the calculation method of the commodity zone marker information is not limited to the method provided in the foregoing embodiment, as long as it is other methods that can obtain the commodity zone marker information, it can also be applied to the present disclosure. Do restrictions.
- Step 13 Calculate the product location area in the shelf image according to the product zone marker information, combining the positional relationship between the camera capturing the shelf image and the shelf and the shooting angle of the camera;
- the area also referred to as the SKU (Stock Keeping Unit) location area
- SKU Stock Keeping Unit
- the product placement area includes four vertices, which are the first and second points near the outside of the shelf and the corresponding third and second points near the inside of the shelf in the shelf image.
- the positional relationship between the camera and the shelf and the shooting angle of the camera are combined to calculate the product seating area in the shelf image, including :
- Step 131 Obtain the coordinates of the first point and the second point of the commodity seating area in the shelf image according to the information of the commodity zone markers;
- Step 132 According to the horizontal position relationship between the photographing device and the shelf and the horizontal photographing angle of view of the photographing device, the horizontal coordinates of the first point and the second point of the commodity seating area in the shelf image are calculated to calculate The abscissa of the third point and the fourth point;
- Step 133 Combine the vertical coordinates of the first point and the second point of the product seating area in the shelf image according to the vertical position relationship between the camera and the shelf and the vertical shooting angle of the camera , Calculate the ordinates of the third point and the fourth point.
- Figure 2B is an overall example of the shelf image
- Figure 2C is an enlarged view of the single-layer shelf image.
- the quadrangular area EFSR is the surface of the shelf that may be placed in contact with the goods. We call it the "layer positioning area”. "Compared with the image area UFSV of the entire floor, it reflects the actual area occupied by the goods on the shelf, so it is more accurate to judge the shelf vacancy rate based on this.
- the SKU placement area which is the placement area of each commodity, that is, the commodity placement area, as shown in Figure 2C, EFNM and MNQP And PQSR.
- the The relationship and imaging principles calculate their corresponding points E, M, P, R at the rear end of the shelf (that is, the points near the inner side of the shelf in the shelf image).
- the aforementioned commodity zone marker information has been detected. Therefore, the coordinates of the points close to the outside of the shelf in the shelf image, that is, the coordinates of point N (X N , Y N ) can be known. Specifically, the position of the upper left corner of the price tag may be used as the coordinates of the corresponding point in the shelf image close to the outside of the shelf, but the present disclosure is not limited to this.
- Figure 2A is a side view of the positional relationship between the shelf and the camera, where the rectangle BHJC represents the side of the shelf, point O is the position of the camera, K is the vertical projection of point O on the ground, the height of the shelf h, the depth of the shelf d, K
- the distance m to J (for example, point J is the point on the vertical projection of the vertical projection of the edge of the shelf close to the camera on the ground that is closest to point K), and the height h 0 of the camera above the shelf can be obtained by measurement.
- ⁇ AOJ is the viewing angle range of the camera in the vertical direction and is a known parameter of the system, denoted as ⁇ v .
- ⁇ EOF is denoted as ⁇
- ⁇ FOJ is denoted as ⁇
- ⁇ JOK is denoted as ⁇ .
- the ordinate of the M point in the shelf image can be calculated.
- Figure 2D is a top view of the positional relationship between the shelf and the camera, where the rectangular EFSR represents the upper surface of the shelf, point O is the location of the camera, the depth of the shelf is d, and the distance from the camera to the shelf is m.
- ⁇ AOJ is the viewing angle range of the camera in the horizontal direction and is a known parameter of the system, denoted as ⁇ h .
- T is the midpoint of FS
- OT is perpendicular to FS
- ⁇ NOM is denoted as ⁇
- ⁇ MOT is denoted as ⁇ .
- the known quantity and the width and height of the shelf image are W and H respectively, and the coordinate values (X N , Y N ) of point N in the shelf image.
- the quantity we require is the abscissa value X M of the M point in the image.
- the method for calculating shelf vacancy rate further includes:
- Step 134 If the ordinates of the third point and the fourth point of the commodity seating area are greater than the ordinates of the first and second points of the commodity seating area of the previous shelf layer where they are located, that is, The third and fourth points on a certain layer of the shelf image are blocked by the image of the upper shelf, so that the third and fourth points cannot be seen in the shelf image, then the The ordinates of the first point and the second point of the commodity seating area are replaced with the ordinates of the third and fourth points of the commodity seating area; the previous shelf layer here refers to the currently calculated shelf layer The shelf layer of the upper layer;
- Step 135 Construct a first linear function according to the coordinates of the first point in the commodity seating area and the coordinates of the corresponding third point, and according to the coordinates of the second point in the commodity seating area and the corresponding fourth point Point coordinates to construct the second linear function;
- Step 136 Substitute the ordinate of the first point of the product placement area of the previous shelf into the first linear function, and replace the obtained abscissa with the abscissa of the third point of the commodity placement area ;
- Step 137 Substitute the ordinate of the second point of the commodity seating area of the previous shelf layer into the second linear function, and replace the obtained abscissa with the abscissa of the fourth point of the commodity seating area.
- the seating area reflected in the image will be incomplete, making it necessary to correct the calculated seating area, that is, The ordinate is replaced, and the abscissa is calculated according to the replaced ordinate, so as to obtain the corrected product placement area, so that the shelf vacancy rate obtained in the subsequent calculation is more accurate.
- Step 14 Using an image segmentation method, segment the product location area into a product area and a background area.
- the image segmentation method may be an image segmentation method based on features such as texture, color, and edge, and the specific method is not limited.
- Step 15 Calculate the shelf vacancy rate according to the ratio of the commodity area to the background area.
- the shelf vacancy rate may be the vacancy rate of a certain commodity seating area, or the average of the vacancy rates of all commodities in the entire shelf, etc.
- the specific calculation standard may be set as required. This is not specifically limited.
- the method for calculating shelf vacancy rate further includes step 16: If the shelf vacancy rate is greater than a preset vacancy rate threshold, sending prompt information to a designated user. In this way, when the shelf vacancy rate exceeds the threshold, users are reminded to prompt them to replenish goods in time.
- the preset vacancy rate threshold can be set as required, such as 50%, which is not specifically limited here.
- the method for calculating shelf vacancy rate is calculated based on the product partition marker information in the shelf image, combined with the positional relationship between the camera and the shelf, and the shooting angle of the camera Commodity placement area, combining the commodity change area and the commodity placement area, calculates the shelf vacancy rate.
- the shelf vacancy rate is calculated based on this. Avoid counting the non-commodity placement area in the shelf image to get a more accurate shelf vacancy rate.
- shelf vacancy rate calculation method calculates the seating area based on imaging principles and geometric relationships, and does not require training models for each product, which greatly reduces the workload, and the obtained shelf vacancy rate can better reflect the degree of shortage Accurate information.
- a shelf vacancy rate calculation device which can optimize the calculation method of the shelf vacancy rate to a certain extent.
- the shelf vacancy rate calculation device is shown in the form of a functional module in the embodiment of FIG. 4, the actual hardware structure is not limited to this. In fact, it can also adopt the hardware architecture of processor plus memory as shown in FIG. 5. In other words, the processor shown in FIG. 5 can execute the instructions stored in the memory to enable the processor to perform the functions of the modules shown in FIG. 4.
- the shelf vacancy rate calculation device includes:
- the acquisition module 21 is used to acquire shelf images using a photographing device or, more generally, to acquire shelf images in any way;
- the marker detection module 22 is used to detect the product partition marker information in the shelf image
- the seating area calculation module 23 is used to calculate the product seating area in the shelf image based on the information of the commodity zone markers, combining the positional relationship between the photographing device capturing the shelf image and the shelf and the photographing angle of the photographing device ;
- the product placement area is the area occupied by the product placement area on the shelf in the shelf image;
- the vacancy rate calculation module 24 is configured to divide the product location area into a product area and a background area by using an image segmentation method; and calculate the shelf vacancy rate according to the ratio of the product area to the background area.
- the shelf vacancy rate calculation device further includes a prompt module 25, which is used to send prompt information to designated users if the shelf vacancy rate is greater than a preset vacancy rate threshold. In this way, when the shelf vacancy rate exceeds the threshold, users are reminded to prompt them to replenish goods in time.
- the commodity zone marker information includes price tag backboard information and price tag information.
- the marker detection module 22 is used to:
- the false price tag backplane edge straight line that is misdetected in the straight line detection result is removed, and the broken edge line of the price tag backplane is connected to obtain the label backplane of the shelf. Board information.
- the marker detection module 22 is used to:
- the suspected price tag area whose second correlation coefficient is greater than the preset coefficient threshold is a price tag.
- the product placement area includes four vertices, which are the first and second points near the outside of the shelf and the corresponding third and second points near the inside of the shelf in the shelf image. Four points; the lower edge of the shelf image coincides with the lower edge of the shelf, and the center point of the shelf image coincides with the center point of the shelf;
- the seating area calculation module 23 is used for:
- Calculating the product placement area in the shelf image according to the information of the commodity zone markers, combined with the positional relationship between the camera and the shelf and the shooting angle of the camera, includes:
- the horizontal coordinates of the first point and the second point of the commodity seating area in the shelf image are combined to calculate the first The abscissa of the three points and the fourth point;
- the vertical coordinates of the first point and the second point of the commodity seating area in the shelf image are calculated to calculate Describe the ordinates of the third and fourth points.
- the seating area calculation module 23 is used to:
- the ordinates of the third point and the fourth point of the commodity seating area are greater than the ordinates of the first and second points of the commodity seating area of the previous shelf layer where it is located, then the upper The ordinates of the first point and the second point of the commodity seating area of a shelf layer are replaced with the ordinates of the first point and the second point of the commodity seating area;
- shelf vacancy rate calculation device has a certain degree of correspondence with the foregoing embodiments of the shelf vacancy rate calculation method, and their effects are basically the same, and will not be repeated here.
- FIG. 5 it is a schematic diagram of the hardware structure of an embodiment of the apparatus for executing the method for calculating the shelf vacancy rate provided by the present disclosure.
- the device includes:
- One or more processors 31 and a memory 32 are taken as an example in FIG. 5.
- the device for executing the method for calculating the shelf vacancy rate may further include: an input device 33 and an output device 34.
- the processor 31, the memory 32, the input device 33, and the output device 34 may be connected by a bus or other methods.
- the connection by a bus is taken as an example.
- the memory 32 can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, as described in the method for calculating shelf vacancy rate in the embodiment of the present application Corresponding program instructions/modules (for example, the acquisition module 21, the marker detection module 22, the seating area calculation module 23, and the vacancy rate calculation module 24 shown in FIG. 4).
- the processor 31 executes various functional applications and data processing of the server by running non-volatile software programs, instructions, and modules stored in the memory 32, that is, realizing the shelf vacancy rate calculation method in the foregoing method embodiment.
- the memory 32 may include a storage program area and a storage data area.
- the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the shelf vacancy rate calculation device.
- the memory 32 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
- the memory 32 may optionally include a memory remotely provided with respect to the processor 31, and these remote memories may be connected to the member user behavior monitoring device via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
- the input device 33 can receive inputted numeric or character information, and generate key signal inputs related to user settings and function control of the shelf vacancy rate calculation device.
- the output device 34 may include a display device such as a display screen. In some embodiments, one or both of the input device 33 and the output device 34 may be optional. In some embodiments, the input device 33 and the output device 34 may be at least partially the same hardware.
- the one or more modules are stored in the memory 32, and when executed by the one or more processors 31, the shelf vacancy rate calculation method in any of the foregoing method embodiments is executed.
- the technical effect of the embodiment of the device for executing the method for calculating the shelf vacancy rate is the same as or similar to any of the foregoing method embodiments.
- An embodiment of the present application provides a non-transitory computer storage medium that stores computer-executable instructions, and the computer-executable instructions can execute the processing method of the list item operation in any of the foregoing method embodiments.
- the technical effect of the embodiment of the non-transitory computer storage medium is the same as or similar to any of the foregoing method embodiments.
- the programs can be stored in a computer readable storage.
- the medium when the program is executed, it may include the procedures of the above-mentioned method embodiments.
- the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.
- the embodiment of the computer program has the same or similar technical effect as any of the foregoing method embodiments.
- the devices, devices, etc. described in the present disclosure may be various electronic terminal devices, such as mobile phones, personal digital assistants (PDA), tablet computers (PAD), smart TVs, etc., or large-scale terminal devices, such as Servers, etc., therefore, the protection scope of the present disclosure should not be limited to a specific type of device or equipment.
- the client described in the present disclosure may be applied to any of the above electronic terminal devices in the form of electronic hardware, computer software or a combination of both.
- the method according to the present disclosure may also be implemented as a computer program executed by a CPU, and the computer program may be stored in a computer-readable storage medium.
- the computer program executes the above-mentioned functions defined in the method of the present disclosure.
- the above method steps and system units can also be implemented using a controller and a computer-readable storage medium for storing a computer program that enables the controller to implement the above steps or unit functions.
- non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory Memory.
- Volatile memory can include random access memory (RAM), which can act as external cache memory.
- RAM can be obtained in various forms, such as synchronous RAM (DRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchronous link DRAM (SLDRAM) and direct RambusRAM (DRRAM).
- DRAM synchronous RAM
- DRAM dynamic RAM
- SDRAM synchronous DRAM
- DDR SDRAM double data rate SDRAM
- ESDRAM enhanced SDRAM
- SLDRAM Synchronous link DRAM
- DRRAM direct Rambus RAM
- the storage devices of the disclosed aspects are intended to include, but are not limited to, these and other suitable types of memory.
- DSP digital signal processors
- ASIC dedicated Integrated circuit
- FPGA field programmable gate array
- a general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine.
- the processor may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration.
- the steps of the method or algorithm described in combination with the disclosure herein may be directly included in hardware, a software module executed by a processor, or a combination of the two.
- the software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.
- An exemplary storage medium is coupled to the processor such that the processor can read information from or write information to the storage medium.
- the storage medium may be integrated with the processor.
- the processor and the storage medium may reside in the ASIC.
- the ASIC can reside in the user terminal.
- the processor and the storage medium may reside as discrete components in the user terminal.
- the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions can be stored as one or more instructions or codes on a computer-readable medium or transmitted through the computer-readable medium.
- Computer-readable media include computer storage media and communication media, including any media that facilitates the transfer of a computer program from one location to another.
- a storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.
- the computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage devices, magnetic disk storage devices or other magnetic storage devices, or may be used for carrying or storing instructions in the form of Or any other medium that can be accessed by a general-purpose or special-purpose computer or a general-purpose or special-purpose processor. Also, any connection is properly termed a computer-readable medium.
- coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave to send software from a website, server, or other remote source
- coaxial cable Cable, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, radio and microwave are all included in the definition of media.
- magnetic disks and optical disks include compact disks (CDs), laser disks, optical disks, digital versatile disks (DVD), floppy disks, and Blu-ray disks. Disks generally reproduce data magnetically, while optical disks use lasers to optically reproduce data .
- the combination of the above content should also be included in the scope of computer-readable media.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Probability & Statistics with Applications (AREA)
- Image Analysis (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
Description
Claims (19)
- 一种货架空置率计算方法,包括:获取货架图像;检测所述货架图像中的商品分区标志物信息;根据所述商品分区标志物信息,结合捕捉所述货架图像的拍摄装置与货架的位置关系以及拍摄装置的拍摄视角,计算所述货架图像中的商品落位区;所述商品落位区为商品在货架上的放置区域在所述货架图像中所占据的区域;利用图像分割方法,将所述商品落位区分割为商品区域和背景区域;根据所述商品区域与所述背景区域的比例,计算所述货架空置率。
- 根据权利要求1所述的方法,还包括:若所述货架空置率大于预设空置率阈值,则向指定用户发送提示信息。
- 根据权利要求1所述的方法,其中,所述商品分区标志物信息包括价签背板信息和价签信息。
- 根据权利要求3所述的方法,其中,检测所述货架图像中的价签背板信息,包括:对所述货架图像进行直线检测,得到直线检测结果;基于价签背板的边缘特性和形状特性,去除所述直线检测结果中误检测到的伪价签背板边缘直线,并连接断裂的价签背板边缘直线,以得到所述货架的标签背板信息。
- 根据权利要求3所述的方法,其中,检测所述货架图像中的价签信息,包括:获取价签模板图像;提取所述价签模板图像和所述货架图像的第一图像特征;根据所述价签模板图像和所述货架图像的第一图像特征,计算第一相关系数,并生成价签显著图;对所述价签显著图进行自适应阈值分割,得到疑似价签区域的中心点集合;根据所述疑似价签区域的中心点集合,确定所述货架图像中的疑似价签区域;提取所述疑似价签区域与所述价签模板图像的第二图像特征;根据所述疑似价签区域与所述价签模板图像的第二图像特征,计算第二相关系数;确定所述第二相关系数大于预设系数阈值的疑似价签区域为价签。
- 根据权利要求1所述的方法,其中,所述商品落位区包括四个顶点,分别为在所述货架图像中的靠近货架外侧的第一点和第二点以及对应的靠近货架里侧的第三点和第四点;所述货架图像的下边缘与货架的下边缘重合,所述货架图像的中心点与货架的中心点重合;根据所述商品分区标志物信息,结合所述拍摄装置与货架的位置关系以及拍摄装置的拍摄视角,计算所述货架图像中的商品落位区,包括:根据所述商品分区标志物信息,得到所述商品落位区的第一点和第二点在所述货架图像中的坐标;根据所述拍摄装置与货架的水平位置关系以及所述拍摄装置的水平拍摄视角,结合所述商品落位区的第一点和第二点在所述货架图像中的横坐标,计算所述第三点和第四点的横坐标;根据所述拍摄装置与货架的竖直位置关系以及所述拍摄装置的竖直拍摄视角,结合所述商品落位区的第一点和第二点在所述货架图像中的纵坐标,计算所述第三点和第四点的纵坐标。
- 根据权利要求6所述的方法,还包括:若所述商品落位区的第三点和第四点的纵坐标大于其所在货架层的上一货架层的商品落位区的第一点和第二点的纵坐标,则将所述上一货架层的商品落位区的第一点和第二点的纵坐标替换为所述商品落位区的第三点和第四点的纵坐标;根据所述商品落位区第一点的坐标以及对应的第三点的坐标,构建第一直线函数,并且,根据所述商品落位区第二点的坐标以及对应的第四点的坐标,构建第二直线函数;将所述上一货架层的商品落位区的第一点的纵坐标代入所述第一直线函数,得到的横坐标替换为所述商品落位区的第三点的横坐标;将所述上一货架层的商品落位区的第二点的纵坐标代入所述第二直线函数,得到的横坐标替换为所述商品落位区的第四点的横坐标。
- 根据权利要求6所述的方法,其中,根据所述拍摄装置与货架的竖直位置关系以及所述拍摄装置的竖直拍摄视角,结合所述商品落位区的第一点 和第二点在所述货架图像中的纵坐标,计算所述第三点和第四点的纵坐标,包括根据以下公式来计算所述第三点和所述第四点的纵坐标:其中,Y M表示所述第三点或所述第四点的纵坐标,H表示所述货架图像的高度,β v表示拍摄装置在竖直方向的视角范围,tan表示正切函数,arctan表示反正切函数,d表示货架深度,m表示从拍摄装置在地面的垂直投影点到货架靠近拍摄装置一侧的边缘在地面的投影之间的距离,Y N表示所述第一点或所述第二点的纵坐标,h 0表示拍摄装置高于货架的高度,h表示货架的高度,以及γ表示以下述方式形成的角:该角以拍摄装置为角的顶点,并以拍摄装置在地面的垂直投影点和货架靠近拍摄装置一侧的边缘在地面的投影上最接近所述垂直投影点的点为角的边的点,所形成的角。
- 一种货架空置率计算装置,包括:处理器;以及,存储器,存储能够由所述处理器执行的指令,所述指令在被所述处理器执行时使得所述处理器:获取货架图像;检测所述货架图像中的商品分区标志物信息;根据所述商品分区标志物信息,结合捕捉所述货架图像的拍摄装置与货 架的位置关系以及拍摄装置的拍摄视角,计算所述货架图像中的商品落位区;所述商品落位区为商品在货架上的放置区域在所述货架图像中所占据的区域;利用图像分割方法,将所述商品落位区分割为商品区域和背景区域;以及,根据所述商品区域与所述背景区域的比例,计算所述货架空置率。
- 根据权利要求10所述的装置,其中,所述指令在被所述处理器执行时还使得所述处理器:若所述货架空置率大于预设空置率阈值,用于向指定用户发送提示信息。
- 根据权利要求10所述的装置,其中,所述商品分区标志物信息包括价签背板信息和价签信息。
- 根据权利要求12所述的装置,其中,所述指令在被所述处理器执行时还使得所述处理器:对所述货架图像进行直线检测,得到直线检测结果;基于价签背板的边缘特性和形状特性,去除所述直线检测结果中误检测到的伪价签背板边缘直线,并连接断裂的价签背板边缘直线,以得到所述货架的标签背板信息。
- 根据权利要求12所述的装置,其中,所述指令在被所述处理器执行时还使得所述处理器:获取价签模板图像;提取所述价签模板图像和所述货架图像的第一图像特征;根据所述价签模板图像和所述货架图像的第一图像特征,计算第一相关系数,并生成价签显著图;对所述价签显著图进行自适应阈值分割,得到疑似价签区域的中心点集合;根据所述疑似价签区域的中心点集合,确定所述货架图像中的疑似价签区域;提取所述疑似价签区域与所述价签模板图像的第二图像特征;根据所述疑似价签区域与所述价签模板图像的第二图像特征,计算第二相关系数;确定所述第二相关系数大于预设系数阈值的疑似价签区域为价签。
- 根据权利要求10所述的装置,其中,所述商品落位区包括四个顶点,分别为在所述货架图像中的靠近货架外侧的第一点和第二点以及对应的靠近 货架里侧的第三点和第四点;所述货架图像的下边缘与货架的下边缘重合,所述货架图像的中心点与货架的中心点重合;其中,所述指令在被所述处理器执行时还使得所述处理器:根据所述商品分区标志物信息,结合所述拍摄装置与货架的位置关系以及拍摄装置的拍摄视角,计算所述货架图像中的商品落位区,包括:根据所述商品分区标志物信息,得到所述商品落位区的第一点和第二点在所述货架图像中的坐标;根据所述拍摄装置与货架的水平位置关系以及所述拍摄装置的水平拍摄视角,结合所述商品落位区的第一点和第二点在所述货架图像中的横坐标,计算所述第三点和第四点的横坐标;根据所述拍摄装置与货架的竖直位置关系以及所述拍摄装置的竖直拍摄视角,结合所述商品落位区的第一点和第二点在所述货架图像中的纵坐标,计算所述第三点和第四点的纵坐标。
- 根据权利要求15所述的装置,其中,所述指令在被所述处理器执行时还使得所述处理器:若所述商品落位区的第三点和第四点的纵坐标大于所述商品落位区所在货架层的上一货架层的商品落位区的第一点和第二点的纵坐标,则将所述上一货架层的商品落位区的第一点和第二点的纵坐标替换为所述商品落位区的第一点和第二点的纵坐标;根据所述商品落位区第一点的坐标以及对应的第三点的坐标,构建第一直线函数,并且,根据所述商品落位区第二点的坐标以及对应的第四点的坐标,构建第二直线函数;将所述上一货架层的商品落位区的第一点的纵坐标代入所述第一直线函数,得到的横坐标替换为所述商品落位区的第三点的横坐标;将所述上一货架层的商品落位区的第二点的纵坐标代入所述第二直线函数,得到的横坐标替换为所述商品落位区的第四点的横坐标。
- 根据权利要求15所述的装置,其中,所述指令在被所述处理器执行时还使得所述处理器根据以下公式来计算所述第三点和所述第四点的纵坐标:其中,Y M表示所述第三点或所述第四点的纵坐标,H表示所述货架图像的高度,β v表示拍摄装置在竖直方向的视角范围,tan表示正切函数,arctan表 示反正切函数,d表示货架深度,m表示从拍摄装置在地面的垂直投影点到货架靠近拍摄装置一侧的边缘在地面的投影之间的距离,Y N表示所述第一点或所述第二点的纵坐标,h 0表示拍摄装置高于货架的高度,h表示货架的高度,以及γ表示以下述方式形成的角:该角以拍摄装置为角的顶点,并以拍摄装置在地面的垂直投影点和货架靠近拍摄装置一侧的边缘在地面的投影上最接近所述垂直投影点的点为角的边的点,所形成的角。
- 一种存储有计算机程序的计算机可读存储介质,其中,所述计算机程序在由处理器执行时实现权利要求1-9中任一项所述的方法的步骤。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910249974.6 | 2019-03-29 | ||
CN201910249974.6A CN109977886B (zh) | 2019-03-29 | 2019-03-29 | 货架空置率计算方法及装置、电子设备、存储介质 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020199776A1 true WO2020199776A1 (zh) | 2020-10-08 |
Family
ID=67081603
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2020/075832 WO2020199776A1 (zh) | 2019-03-29 | 2020-02-19 | 货架空置率计算方法及装置、存储介质 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN109977886B (zh) |
WO (1) | WO2020199776A1 (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112434584A (zh) * | 2020-11-16 | 2021-03-02 | 浙江大华技术股份有限公司 | 货架商品余量计算方法、装置、计算机设备和存储介质 |
CN117974989A (zh) * | 2024-03-28 | 2024-05-03 | 济宁市市政园林养护中心 | 一种园林植物病虫害区域快速检测方法 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109977886B (zh) * | 2019-03-29 | 2021-03-09 | 京东方科技集团股份有限公司 | 货架空置率计算方法及装置、电子设备、存储介质 |
CN110363703B (zh) * | 2019-07-17 | 2023-06-16 | 帷幄匠心科技(杭州)有限公司 | 基于深度摄像头的货架监控方法 |
CN112308869A (zh) * | 2019-07-30 | 2021-02-02 | 阿里巴巴集团控股有限公司 | 图像采集方法、装置、电子设备及计算机存储介质 |
CN110516628A (zh) * | 2019-08-29 | 2019-11-29 | 上海扩博智能技术有限公司 | 货架空缺位置商品信息获取方法、系统、设备及存储介质 |
CN110781780B (zh) * | 2019-10-11 | 2023-04-07 | 浙江大华技术股份有限公司 | 空置检测方法及相关装置 |
CN113128813A (zh) * | 2019-12-31 | 2021-07-16 | 杭州海康机器人技术有限公司 | 调度货架的方法、装置、仓库系统及存储介质 |
CN113264313A (zh) * | 2020-06-12 | 2021-08-17 | 深圳市海柔创新科技有限公司 | 取/放货的拍摄方法、拍摄模块以及搬运机器人 |
CN111539429B (zh) * | 2020-06-19 | 2020-11-03 | 天津施格机器人科技有限公司 | 一种基于图像几何特征的周转箱自动定位方法 |
CN111783627B (zh) * | 2020-06-29 | 2023-10-27 | 杭州海康威视数字技术股份有限公司 | 商品存量确定方法、装置及设备 |
CN112489240B (zh) * | 2020-11-09 | 2021-08-13 | 上海汉时信息科技有限公司 | 一种商品陈列巡检方法、巡检机器人以及存储介质 |
CN112883955B (zh) * | 2021-03-10 | 2024-02-02 | 洛伦兹(北京)科技有限公司 | 货架布局检测方法、装置及计算机可读存储介质 |
CN113935774A (zh) * | 2021-10-15 | 2022-01-14 | 北京百度网讯科技有限公司 | 图像处理方法、装置、电子设备及计算机存储介质 |
CN116682209A (zh) * | 2023-06-15 | 2023-09-01 | 南昌交通学院 | 一种基于机器视觉的自动售货机库存管理方法及系统 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101149792A (zh) * | 2006-09-21 | 2008-03-26 | 国际商业机器公司 | 使用移动盘存机器人来执行盘存的系统和方法 |
CN102523758A (zh) * | 2010-08-31 | 2012-06-27 | 新日铁系统集成株式会社 | 增强现实提供系统、信息处理终端、信息处理装置、增强现实提供方法、信息处理方法以及程序 |
CN102982332A (zh) * | 2012-09-29 | 2013-03-20 | 顾坚敏 | 基于云处理方式的零售终端货架影像智能分析系统 |
CN105701519A (zh) * | 2014-12-10 | 2016-06-22 | 株式会社理光 | 基于超像素的图像的实际货架图景象分析 |
CN109190919A (zh) * | 2018-08-10 | 2019-01-11 | 上海扩博智能技术有限公司 | 零售关键业绩指标生成方法、系统、设备及存储介质 |
CN109977886A (zh) * | 2019-03-29 | 2019-07-05 | 京东方科技集团股份有限公司 | 货架空置率计算方法及装置、电子设备、存储介质 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8189855B2 (en) * | 2007-08-31 | 2012-05-29 | Accenture Global Services Limited | Planogram extraction based on image processing |
US20140195373A1 (en) * | 2013-01-10 | 2014-07-10 | International Business Machines Corporation | Systems and methods for managing inventory in a shopping store |
US20180181906A1 (en) * | 2015-06-17 | 2018-06-28 | Panasonic Intellectual Property Management Co., Ltd. | Stock management apparatus, method and system |
US20180218494A1 (en) * | 2017-01-31 | 2018-08-02 | Focal Systems, Inc. | Out-of-stock detection based on images |
CN108846401A (zh) * | 2018-05-30 | 2018-11-20 | 京东方科技集团股份有限公司 | 商品检测终端、方法、系统以及计算机设备、可读介质 |
CN109241877B (zh) * | 2018-08-20 | 2021-08-10 | 北京旷视科技有限公司 | 一种轨迹识别系统、方法、装置及其计算机存储介质 |
CN109330284B (zh) * | 2018-09-21 | 2020-08-11 | 京东方科技集团股份有限公司 | 一种货架系统 |
-
2019
- 2019-03-29 CN CN201910249974.6A patent/CN109977886B/zh active Active
-
2020
- 2020-02-19 WO PCT/CN2020/075832 patent/WO2020199776A1/zh active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101149792A (zh) * | 2006-09-21 | 2008-03-26 | 国际商业机器公司 | 使用移动盘存机器人来执行盘存的系统和方法 |
CN102523758A (zh) * | 2010-08-31 | 2012-06-27 | 新日铁系统集成株式会社 | 增强现实提供系统、信息处理终端、信息处理装置、增强现实提供方法、信息处理方法以及程序 |
CN102982332A (zh) * | 2012-09-29 | 2013-03-20 | 顾坚敏 | 基于云处理方式的零售终端货架影像智能分析系统 |
CN105701519A (zh) * | 2014-12-10 | 2016-06-22 | 株式会社理光 | 基于超像素的图像的实际货架图景象分析 |
CN109190919A (zh) * | 2018-08-10 | 2019-01-11 | 上海扩博智能技术有限公司 | 零售关键业绩指标生成方法、系统、设备及存储介质 |
CN109977886A (zh) * | 2019-03-29 | 2019-07-05 | 京东方科技集团股份有限公司 | 货架空置率计算方法及装置、电子设备、存储介质 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112434584A (zh) * | 2020-11-16 | 2021-03-02 | 浙江大华技术股份有限公司 | 货架商品余量计算方法、装置、计算机设备和存储介质 |
CN112434584B (zh) * | 2020-11-16 | 2024-04-30 | 浙江大华技术股份有限公司 | 货架商品余量计算方法、装置、计算机设备和存储介质 |
CN117974989A (zh) * | 2024-03-28 | 2024-05-03 | 济宁市市政园林养护中心 | 一种园林植物病虫害区域快速检测方法 |
Also Published As
Publication number | Publication date |
---|---|
CN109977886B (zh) | 2021-03-09 |
CN109977886A (zh) | 2019-07-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2020199776A1 (zh) | 货架空置率计算方法及装置、存储介质 | |
WO2020199775A1 (zh) | 货架状态确定方法及装置、存储介质 | |
US11403839B2 (en) | Commodity detection terminal, commodity detection method, system, computer device, and computer readable medium | |
US9275281B2 (en) | Mobile image capture, processing, and electronic form generation | |
CN109360203B (zh) | 图像配准方法、图像配准装置及存储介质 | |
WO2020199777A1 (zh) | 价签检测方法及装置、存储介质 | |
CN109271937B (zh) | 基于图像处理的运动场地标志物识别方法及系统 | |
CN109086718A (zh) | 活体检测方法、装置、计算机设备及存储介质 | |
WO2019061658A1 (zh) | 眼镜定位方法、装置及存储介质 | |
WO2017215527A1 (zh) | Hdr场景侦测方法、装置和计算机存储介质 | |
US9401027B2 (en) | Method and apparatus for scene segmentation from focal stack images | |
WO2020052270A1 (zh) | 一种视频审核的方法、装置和设备 | |
CN102667810A (zh) | 数字图像中的面部识别 | |
US9747486B2 (en) | Decoding visual codes | |
CN116664559A (zh) | 基于机器视觉的内存条损伤快速检测方法 | |
CN114359412B (zh) | 一种面向建筑数字孪生的相机外参自动标定方法及系统 | |
WO2021195873A1 (zh) | 识别sfr测试卡图像中感兴趣区域的方法及装置、介质 | |
US11216905B2 (en) | Automatic detection, counting, and measurement of lumber boards using a handheld device | |
CN114511820A (zh) | 货架商品检测方法、装置、计算机设备及存储介质 | |
CN113840135B (zh) | 色偏检测方法、装置、设备及存储介质 | |
CN114913463A (zh) | 一种图像识别方法、装置、电子设备及存储介质 | |
CN113469216B (zh) | 零售终端海报识别与完整性判断方法、系统及存储介质 | |
CN106056575B (zh) | 一种基于似物性推荐算法的图像匹配方法 | |
CN110348353B (zh) | 一种图像处理方法及装置 | |
CN109448010B (zh) | 一种基于内容特征的四方连续纹样自动生成方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20784601 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20784601 Country of ref document: EP Kind code of ref document: A1 |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A) DATED 04/02/2022). |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20784601 Country of ref document: EP Kind code of ref document: A1 |