WO2021042792A1

WO2021042792A1 - Method and apparatus for determining position of camera

Info

Publication number: WO2021042792A1
Application number: PCT/CN2020/094793
Authority: WO
Inventors: 王钧; 傅宇辉
Original assignee: 华为技术有限公司
Priority date: 2019-09-05
Filing date: 2020-06-07
Publication date: 2021-03-11
Also published as: CN112446920A

Abstract

A method for determining the position of a camera. The method comprises: obtaining a first image photographed by a camera and comprising a first vehicle, and determining a photographing time point of the first image; obtaining spatio-temporal trajectory data of the first vehicle, and determining, according to the spatio-temporal trajectory data, a first position where the first vehicle is located at the time point of photographing the first image; obtaining a spatial position relationship between the first position and a second position; and finally determining the second position according to the first position and the spatial position relationship between the first position and the second position. The second position is a position of a geographical coordinate of the camera. Because the first position is accurate, and the spatial position relationship between the first position and the second position is also relatively accurate, the accuracy of the determined second position is also high.

Description

Method and device for determining camera position

Technical field

This application relates to the field of data processing, and in particular to a method and device for determining the position of a camera.

Background technique

With the development of science and technology, the application of image analysis and processing technology has become more and more extensive. An application scenario of image analysis and processing technology is to analyze images taken by cameras installed on roads. For example, it is possible to analyze images including vehicles taken by cameras installed on roads to determine whether the vehicles have illegal driving behaviors. Another example is to analyze images including vehicles captured by cameras installed on roads, to track the itinerary of target users, such as criminal suspects, and so on.

In practical applications, when analyzing images taken by cameras installed on roads, it is also important to determine the location of the cameras, because in practical applications it may be necessary to perform further analysis in conjunction with the location of the cameras. For example, after it is determined that the vehicle has an illegal driving behavior based on the image taken by the camera, the position of the camera that took the image can be combined to further determine the location of the vehicle's illegal driving behavior. For another example, when tracking the itinerary of the target user, the location of the vehicle driven by the target user can be determined in combination with the position of the camera, so as to determine the location of the target user.

However, in traditional technology, the position of the camera is often not very accurate, which further leads to inaccurate results obtained by further analysis combined with the position of the camera. Therefore, there is an urgent need for a solution that can accurately determine the location of the camera.

Summary of the invention

The embodiments of the present application provide a method and device for determining the position of a camera, which can solve the problem of inaccurate position of the camera in the traditional technology.

In the first aspect, the embodiments of the present application provide a method for determining the position of the camera. Considering that in practical applications, on the one hand, there is a type of vehicle with spatio-temporal trajectory data reporting function, and the reported spatio-temporal trajectory data can be considered as accurate data. . On the other hand, when a camera shoots a vehicle, the spatial position relationship between the camera and the vehicle can be determined. Therefore, in the embodiment of the present application, the spatiotemporal trajectory data of the first vehicle with the spatiotemporal trajectory data reporting function, and the first position of the first vehicle at the time when the camera captures the first image including the first vehicle can be used to determine The location of the camera. For the convenience of description, the “position of the geographic coordinates of the camera” is referred to as the “second position”. Specifically, in the embodiment of the present application, the first image including the first vehicle captured by the camera may be acquired, and the shooting moment of the first image may be determined. And, acquiring the spatiotemporal trajectory data of the first vehicle, and determining the first position of the first vehicle at the shooting moment of the first image according to the spatiotemporal trajectory data of the first vehicle. And obtain the spatial position relationship between the first position and the second position, and then determine the second position according to the spatial position relationship between the first position and the second position. Since the spatio-temporal trajectory data of the first vehicle is accurate, the first position of the first vehicle at the moment of taking the first image is accurate, and the accuracy of the spatial position relationship between the first position and the second position is also accurate. It is relatively high, and therefore, the accuracy of the determined second position is also relatively high. Therefore, by using the solution provided by the embodiment of the present application, the location of the geographic coordinates of the camera can be accurately determined.

In a possible implementation, the spatial position relationship between the first position and the second position, and the spatial position relationship between the first position and the second position may include the distance between the first position and the second position; the first position The spatial position relationship with the second position may include the relative direction between the first position and the second position; of course, the spatial position relationship between the first position and the second position may include both the first position and the second position The distance includes the relative direction between the first position and the second position. After obtaining the spatial position relationship between the first position and the second position, the second position may be determined based on the first position and the spatial position relationship between the first position and the second position.

In a possible implementation manner, considering that in actual applications, the position of the target object on the first vehicle in the first image captured by the camera can reflect to a certain extent that the first image is captured by the camera. The distance between the first position where a vehicle is located and the geographic coordinates of the camera. That is, the position of the target object on the first vehicle in the first image captured by the camera can reflect the distance between the first position and the second position to a certain extent. Therefore, in an implementation manner of the embodiment of the present application, the position of the target object on the first vehicle in the first image can be determined according to the first image, and further, based on the obtained target object in the first image The position to determine the distance between the first position and the second position.

In a possible implementation manner, considering that in actual applications, the camera has an installation direction during installation, and the installation direction of the camera determines the shooting direction of the camera to a certain extent. For the first vehicle driving on the road, the shooting direction of the camera determines whether the first vehicle is driving from the first position to the direction of the second position, or from the direction of the second position. To the first position. That is, the relative direction between the first position and the second position can be determined according to the driving direction of the first vehicle and the shooting direction of the camera. Therefore, in an implementation of the embodiment of the present application, the traveling direction of the first vehicle can be determined according to the spatio-temporal trajectory data of the first vehicle, and the shooting direction of the camera can be determined, and then according to the traveling direction of the first vehicle and the shooting of the camera The direction determines the relative direction between the first position and the second position.

In a possible implementation manner, the spatial position relationship between the first position and the second position can be embodied as the distance between the first position and the second position. In this case, it can be based on the first position and the first position. The distance between the second position and the second position determines the second position. Specifically, the position of the target object in the first image may be determined according to the first image, and the distance between the first position and the second position may be determined according to the obtained position of the target object in the first image; and then according to the first image An image determines the position of the target object in the first image, and the distance between the first position and the second position is determined according to the obtained position of the target object in the first image. Specifically, it may be: determine the travel trajectory of the first vehicle according to the spatiotemporal trajectory data of the first vehicle, and determine the first vehicle’s travel trajectory according to the distance between the first position and the second position, the first position and the travel trajectory of the first vehicle Two positions.

In a possible implementation manner, in order to further improve the accuracy of the determined second position, the second position may be further determined in combination with the relative direction between the first position and the second position. Specifically, the traveling direction of the first vehicle can be determined according to the spatiotemporal trajectory data of the first vehicle; and the shooting direction of the camera can be determined. Then, according to the driving direction of the first vehicle and the shooting direction of the camera, the relative direction between the first position and the second position is determined. Finally, the second position is determined according to the relative direction between the first position and the second position, the first position, and the distance between the first position and the second position.

In a possible implementation manner, according to the position of the target object in the first image, the distance between the first position and the second position is determined. In a specific implementation, the mapping relationship between the position and the distance can be predetermined to obtain The distance corresponding to the position of the target object in the first image, and then the distance obtained by using the mapping relationship is determined as the distance between the first position and the second position. The embodiment of the present application does not specifically limit the foregoing predetermined mapping relationship between the position and the distance. The predetermined mapping relationship between the position and the distance includes at least the position of the target object in the first image, and the second position and The mapping relationship between the distances between the first positions.

In a possible implementation, considering that in practical applications, the camera’s shooting field of view is limited. In other words, the distance between the farthest object that the camera can shoot and the second position will not be far away. Therefore, in another implementation manner of the embodiment of the present application, the first position may be determined as the second position, that is, the position of the first vehicle when the camera shoots the first image is determined as the geographic coordinate position of the camera. . This approach is simple and efficient, but it may cause low accuracy.

In a possible implementation manner, considering that in practical applications, the images captured by the camera include many vehicles, in addition to the aforementioned first vehicle, it may also include a second vehicle, a third vehicle, etc., instead of All vehicles are vehicles with spatio-temporal data reporting functions. In an implementation manner of the present application, after acquiring the first image taken by the camera, it may be further determined whether the first vehicle included in the first image is a vehicle with spatiotemporal data reporting. Specifically, in this year's application embodiment, the first image can be analyzed to identify the license plate number of the first vehicle. Then match the license plate number of the first vehicle with the license plate number of the vehicle with spatiotemporal trajectory data reporting function. If the matching is successful, it is determined that the license plate number of the vehicle with spatiotemporal trajectory data reporting function includes the license plate of the aforementioned first vehicle When the number is displayed, it can be determined that the first vehicle is a vehicle with the function of reporting spatiotemporal trajectory data.

In a possible implementation manner, considering that in practical applications, although the size of the body of each type of vehicle is different, the difference in the size of the license plate is not large, and the difference in the size of the corresponding vehicle logo is not large. Moreover, the position of the license plate and vehicle logo on the car body is relatively fixed. Therefore, for different vehicles located at the first position, the positions of the license plates or logos of these different vehicles in the images containing the vehicles in the multiple images captured by the camera including these different vehicles can be considered to be relatively close. Therefore, in the embodiment of the present application, the aforementioned target object on the first vehicle may be the license plate on the first vehicle or the vehicle logo on the first vehicle.

In a second aspect, an embodiment of the present application provides a device for determining the position of a camera. The device includes: a first acquiring unit configured to acquire a first image captured by the camera including a first vehicle; and a first determining unit configured to Determine the shooting moment of the first image; a second acquisition unit for acquiring spatio-temporal trajectory data of the first vehicle; a second determination unit for determining the first vehicle's spatiotemporal trajectory data The first position of the vehicle at the shooting moment; a third acquisition unit, configured to acquire the spatial position relationship between the first position and the second position, and the second position is the position of the geographic coordinates of the camera; The third determining unit is configured to determine the second position according to the first position, the spatial position relationship between the first position and the second position.

In a possible implementation manner, the spatial position relationship between the first position and the second position includes: the distance between the first position and the second position, and/or the first position And the relative direction between the second position.

In a possible implementation manner, the distance between the first position and the second position is determined by determining the position of the target object in the first image according to the first image, and According to the determined position of the target object in the first image, the distance between the first position and the second position is determined; the target object is located in the first vehicle.

In a possible implementation manner, the relative direction between the first position and the second position is determined in the following manner: determining the travel of the first vehicle according to the spatiotemporal trajectory data of the first vehicle Direction; and determining the shooting direction of the camera; determining the relative direction between the first position and the second position according to the driving direction of the first vehicle and the shooting direction of the camera; The shooting direction is consistent with the traveling direction of the first vehicle or coincides with the reverse direction of the traveling direction of the first vehicle.

In a possible implementation manner, the third determining unit includes: a first determining subunit, configured to determine the position of the target object in the first image according to the first image; the target object is located The first vehicle;

The second determining subunit is used to determine the distance between the first position and the second position according to the obtained position of the target object in the first image; the third determining subunit is used to determine the distance between the first position and the second position according to the obtained position of the target object in the first image; The space-time trajectory data of the first vehicle, the distance, and the first position determine the second position.

In a possible implementation manner, the third determining subunit is specifically configured to: determine the traveling direction of the first vehicle according to the spatiotemporal trajectory data of the first vehicle; and determine the shooting direction of the camera The shooting direction of the camera is consistent with the driving direction of the first vehicle or the opposite direction to the driving direction of the first vehicle; according to the driving direction of the first vehicle and the shooting direction of the camera, Determine the relative direction between the first position and the second position; determine the first position according to the relative direction between the first position and the second position, the first position and the distance Two positions.

In a possible implementation manner, the second determining subunit is specifically configured to: obtain a position corresponding to the target object in the first image according to a predetermined mapping relationship between a position and a distance The obtained distance is determined as the distance between the first position and the second position; the mapping relationship between the predetermined position and the distance includes that the target object is in the first position A mapping relationship between a position in an image and the distance between the second position and the first position.

In a possible implementation manner, the third determining unit is specifically configured to determine the first position as the second position.

In a possible implementation manner, the device further includes: an image analysis unit, configured to analyze the first image, and identify the license plate number of the first vehicle; and a fourth determining unit, configured to compare all The license plate number of the first vehicle is matched with the license plate number of the vehicle with the spatiotemporal trajectory data reporting function. If the matching is successful, it is determined that the first vehicle is a vehicle with the spatiotemporal trajectory data reporting function.

In a possible implementation manner, the target object includes: a license plate or a vehicle logo.

In a third aspect, an embodiment of the present application provides a device for determining the position of a camera. The device includes: a processor and a memory; the memory is configured to store instructions; and the processor is configured to execute The instruction executes the method described in any one of the first aspect above.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the method described in any one of the first aspects above.

In the fifth aspect, the embodiments of the present application provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the method described in any one of the above first aspect.

In a sixth aspect, an embodiment of the present application provides a device for determining the position of a camera, wherein the device includes: a processor and an interface; the processor communicates with the interface, and the processor is configured to communicate through the interface The data is received, and the method described in any one of the first aspect is executed by running the program instructions.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments described in this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a schematic flowchart of a method for determining a camera position according to an embodiment of the application;

2 is a schematic flowchart of a method for determining a second location according to an embodiment of this application;

FIG. 3 is a schematic flowchart of another method for determining a second location provided by an embodiment of this application;

4 is a schematic diagram of a driving track of a first vehicle according to an embodiment of the application;

FIG. 5 is a schematic diagram of another driving trajectory of a first vehicle according to an embodiment of the application;

FIG. 6 is a schematic structural diagram of a device for determining the position of a camera provided by an embodiment of the application;

FIG. 7 is a schematic structural diagram of a device for determining the position of a camera provided by an embodiment of the application.

detailed description

The embodiment of the present application provides a method for determining the position of the camera, which is used to solve the problem that the position of the camera in the traditional technology is not very accurate.

In practical applications, it is very important to determine the location of the camera installed on the road. However, in the traditional technology, the determined position of the camera is not accurate. Because, in traditional technology, most of the camera positions are described by "** road". The description of "** road" itself reflects an area range, not a specific location. Therefore, the location of the camera described in this way is not very accurate. In addition, in actual applications, there are some processes for the transmission and exchange of data describing the location of the camera. For example, the system update of the relevant management department leads to errors in the transmission and exchange of the data describing the location of the camera. Make the position of the camera inaccurate.

In view of this, the embodiment of the present application provides a method for determining the position of a camera, which is used to accurately determine the position of the camera. The following describes the method for determining the position of the camera provided in the embodiments of the present application in conjunction with the accompanying drawings.

Specifically, in the embodiments of the present application, considering that in practical applications, on the one hand, there is a type of vehicle with a spatiotemporal trajectory data reporting function, and the spatiotemporal trajectory data reported can be considered as accurate data. On the other hand, when a vehicle with the spatio-temporal trajectory data reporting function passes near the camera, the camera can capture images including the spatio-temporal trajectory data reporting function, and when the camera captures the image, the camera and the spatio-temporal trajectory data report The spatial position relationship between functional vehicles can be determined. Therefore, if a camera is used to capture images of a vehicle with spatiotemporal trajectory reporting function, and the spatial position relationship between the "location of the vehicle with spatiotemporal trajectory reporting function" and "the location of the camera's geographic coordinates", it can be accurately determined The location of the camera. Specifically, an image of a vehicle with a spatiotemporal trajectory report function can be acquired by the camera; then the time when the image was taken is determined, and further, the spatiotemporal trajectory data of the vehicle with the spatiotemporal trajectory data report function is used to determine the spatiotemporal trajectory The location of the vehicle with the data reporting function at the aforementioned shooting moment. And obtain the spatial position relationship between the "position of the vehicle with spatiotemporal trajectory reporting function" and the "location of the geographic coordinates of the camera", and finally based on the location of the vehicle with spatiotemporal trajectory reporting function and the determined spatial position Relationship, determine the location of the geographic coordinates of the camera.

The method for determining the position of the camera provided by the embodiment of the present application will be described in detail below.

Refer to FIG. 1, which is a schematic flowchart of a method for determining a camera position according to an embodiment of the application.

The method for determining the position of the camera provided in the embodiment of the present application may be executed by a server. The embodiment of the present application does not specifically limit the server. The server may be a dedicated server for determining the position of the camera, or the server may be a general-purpose server that also has other data processing functions.

The method for determining the position of the camera shown in FIG. 1 may be implemented through the following steps 101-104, for example.

Step 101: Acquire a first image including a first vehicle captured by a camera, and determine a shooting moment of the first image.

In the embodiment of the present application, the first vehicle is a vehicle with a spatiotemporal trajectory data reporting function. Spatio-temporal trajectory data includes at least two dimensions of time and space data. The spatio-temporal trajectory data of the first vehicle is data describing the position of the first vehicle at a certain moment. Specifically, the first vehicle may be equipped with a positioning device, which is used to determine the position of the first vehicle in real time, and the first vehicle may determine the position of the first vehicle and the corresponding position when the first vehicle is at that position. Report at all times. Wherein, the location of the first vehicle may be described by the geographic coordinates of the location of the first vehicle, such as latitude and longitude. The embodiment of the present application does not specifically limit the type of the first vehicle. Considering that in practical applications, in order to ensure the safety of passengers and monitor the driver. Some trucks, taxis, and online taxis (such as Didi and Uber) are equipped with positioning devices. Therefore, in an implementation manner of the embodiment of the present application, the aforementioned first vehicle may be a car-hailing vehicle. Considering that in practical applications, some vehicles are specially used for position calibration, and these vehicles are also equipped with positioning devices. Therefore, in another implementation manner of the embodiment of the present application, the aforementioned first vehicle may also be a vehicle specifically used for position calibration.

It should be noted that the aforementioned positioning device on the first vehicle may be a positioning device fixed on the first vehicle, or a mobile positioning device, such as a mobile terminal with positioning function. Specific restrictions. Correspondingly, the device that reports the spatiotemporal trajectory data of the first vehicle may be a device fixed on the first vehicle, or a mobile device, such as a mobile terminal, etc., which is not specifically limited in the embodiment of the present application.

It is understandable that in practical applications, the camera will record a video image or capture a corresponding image when a vehicle passes by, and upload the recorded video image or the captured image to the corresponding server. For example, for a camera installed on a road, the camera will record a video image corresponding to the road or capture an image when a vehicle passes by, and report the recorded video image and the captured image to the relevant management department, such as the server of the traffic control department. Therefore, in the embodiment of the present application, when step 101 is specifically implemented, for example, the first image may be obtained from a server of a related management department, such as a traffic management department.

After the first image including the first vehicle captured by the camera is acquired, the shooting moment of the first image may be further determined. In the embodiment of the present application, considering that in actual applications, the video reported by the camera carries time information, therefore, the shooting time of the first image can be determined according to the video obtained from the server of the traffic control department.

Step 102: Obtain spatiotemporal trajectory data of the first vehicle, and determine the first position of the first vehicle at the shooting moment of the first image according to the spatiotemporal trajectory data of the first vehicle.

As mentioned above, the spatiotemporal trajectory data of the first vehicle is data describing the position of the first vehicle at a certain moment. The first vehicle may report the position of the first vehicle and the corresponding time when the first vehicle is at that position. In the embodiment of the present application, the aforementioned first vehicle may be obtained from a device that stores spatiotemporal trajectory data of the first vehicle. For the spatiotemporal trajectory data reported by the vehicle, for example, the spatiotemporal trajectory data of the first vehicle is acquired from a server that stores the spatiotemporal trajectory data of the first vehicle. After the shooting time of the first image is determined, the target time matching the shooting time of the first image can be determined from the spatio-temporal trajectory data of the first vehicle, and the location of the first vehicle corresponding to the target time , Determined as the aforementioned first position.

Regarding the aforementioned target time, it should be noted that, in the embodiment of the present application, the aforementioned target time matched with the shooting time of the first image may be equal to the shooting time of the first image. It is understandable that when the target time is equal to the first image At the moment when the image is taken, the determined first position can be considered accurate.

In yet another implementation manner of the embodiment of the present application, considering that in practical applications, for reasons such as saving the bandwidth occupied by the first vehicle reporting spatio-temporal trajectory data, the first vehicle does not correspond to every moment. Report all the positions, but report its own position and the corresponding time when the first vehicle is at that position according to a preset time period, or report based on the request of the administrator. Therefore, the aforementioned spatiotemporal trajectory data of the first vehicle may or may not include the shooting time of the first image. In the case where the shooting moment of the first image is not included, there may be multiple implementation manners for determining the position of the first vehicle at the shooting moment of the first image. Two possible implementation methods are described below.

In an implementation manner, the time closest to the shooting time of the first image in the aforementioned spatiotemporal trajectory data may be determined as the target time. Because in practical applications, in order to ensure the integrity of the spatiotemporal trajectory data of the first vehicle, the aforementioned preset time period, that is, the sampling period of the spatiotemporal position of the first vehicle is generally not too long. Therefore, if the time closest to the shooting time of the first image in the spatio-temporal trajectory data is determined as the target time, the position of the first vehicle at the shooting time of the first image is different from the position of the first vehicle at the target time. The gap should not be very large. Therefore, determining the time closest to the shooting time of the first image in the aforementioned spatiotemporal trajectory data as the first position determined by the target time can also be considered to be relatively accurate.

In another implementation manner, the time closest to the shooting time of the first image in the aforementioned spatio-temporal trajectory data may be determined as the target time. Then, the spatio-temporal trajectory data of the first vehicle is used to perform simple interpolation calculation to determine the position of the first vehicle at the time of taking the first image, that is, to determine the first position. Because as mentioned above, in actual applications, in order to ensure the integrity of the spatiotemporal trajectory data of the first vehicle, the aforementioned preset time period, that is, the sampling period of the spatiotemporal position of the first vehicle is generally not too long. Therefore, if the first vehicle The shooting moment of the image is between the two sampling point moments of the spatiotemporal trajectory data, and the first position can be determined by performing linear interpolation calculation on the geographic location corresponding to the sampling point. The first position determined in this way can be considered more accurate. Regarding the specific algorithm of linear interpolation calculation, a classic linear interpolation algorithm can be used, which will not be described in detail here. Step 103: Obtain the spatial position relationship between the first position and the second position, where the second position is the position of the geographic coordinates of the camera.

Step 104: Determine the second position according to the first position, the spatial position relationship between the first position and the second position.

Regarding step 103 and step 104, it should be noted that, in actual applications, the installation of the camera may follow a certain installation specification. The installation specification may include, for example, the installation height of the camera and the shooting range of the camera. In other words, because the camera is installed based on certain installation specifications, when the camera captures the first vehicle, the space between the first position of the first vehicle and the geographic coordinates of the camera, that is, the second position The positional relationship meets certain conditions. In other words, if the first image captured by the camera includes the first vehicle, the spatial position relationship between the second position and the first position can be determined.

The embodiment of the present application does not specifically limit the specific implementation manner for obtaining the spatial position relationship between the first position and the second position. In an implementation manner of the embodiment of the present application, for example, the spatial position relationship between the second position and the first position may be acquired based on the aforementioned installation specification of the camera. For another example, the spatial position relationship between the first position and the second position can be acquired based on other external data such as the first image. As another example, a pre-calibration method can be used to determine the spatial position relationship between the second position and the object photographed by the camera, and write the pre-calibrated spatial position relationship into the corresponding storage medium, and execute this The processor in the server of the method for determining the camera position provided by the application embodiment can read the spatial position relationship between the first position and the second position from the aforementioned storage medium to obtain the spatial position relationship between the first position and the second position .

Regarding the spatial position relationship between the first position and the second position, it should be noted that the embodiment of the present application does not specifically limit the spatial position relationship between the first position and the second position. The spatial position relationship between the first position and the second position may be Including the distance between the first position and the second position; the spatial position relationship between the first position and the second position may include the relative direction between the first position and the second position; of course, the difference between the first position and the second position The spatial position relationship may include not only the distance between the first position and the second position, but also the relative direction between the first position and the second position.

After the spatial position relationship between the first position and the second position is determined, the second position can be determined according to the spatial position relationship between the first position, the first position, and the second position.

It can be seen from the above description that since the spatio-temporal trajectory data of the first vehicle is accurate, the first position of the first vehicle at the moment of taking the first image is relatively accurate, and the space between the first position and the second position is relatively accurate. The accuracy of the position relationship is also relatively high, and therefore, the accuracy of the determined second position is also relatively high. Therefore, by using the solution provided by the embodiment of the present application, the location of the geographic coordinates of the camera can be accurately determined.

As above, the spatial position relationship between the first position and the second position may be embodied as the distance between the first position and the second position, and/or the relative direction between the first position and the second position. The specific method for determining the distance between the first position and the second position and the specific method for determining the relative direction between the first position and the second position are respectively introduced below.

First, the method for determining the distance between the first position and the second position is introduced.

It is understandable that the camera can photograph the first vehicle, so the distance between the camera and the first vehicle can theoretically satisfy certain conditions. In an implementation of the embodiment of the present application, a pre-calibration method can be used The condition satisfied by the distance between the aforementioned camera and the first vehicle is determined, and a value is determined from the distance that satisfies the condition as the distance between the first position and the second position. For example, a pre-calibration method is used to determine that when the distance between the first position and the second position is between 1 meter and 16 meters, the camera can capture the first vehicle, so the distance between the first position and the second position The distance is determined to be a value between 1 meter and 16 meters, such as 10 meters. In yet another implementation manner of the embodiments of the present application, considering that in actual applications, the position of the target object on the first vehicle in the first image captured by the camera can reflect to a certain extent that the first image captured by the camera When, the distance between the first position where the first vehicle is located and the geographic coordinate position of the camera. That is, the position of the target object on the first vehicle in the first image captured by the camera can reflect the distance between the first position and the second position to a certain extent. Therefore, in an implementation manner of the embodiment of the present application, the position of the target object on the first vehicle in the first image can be determined according to the first image, and further, based on the obtained target object in the first image The position to determine the distance between the first position and the second position. The target object is, for example, a license plate or a vehicle logo.

In the embodiment of the present application, image analysis may be performed on the first image to identify the target object in the first image, so as to determine the position of the target object in the first image. Regarding the method of performing image analysis on the first image, for example, the image feature of the first image can be extracted, and the analysis is performed based on the extracted image feature, so as to identify the target object in the first image. Regarding the realization of recognizing the target object in the first image, it may be a classic image recognition technology, which will not be described in detail here.

It should be noted that the embodiments of the present application do not specifically limit the foregoing target objects. Considering that in practical applications, although various types of vehicles have different body sizes, the difference in the size of the license plate is not big, and the difference in the size of the corresponding car logo is not big. Moreover, the position of the license plate and vehicle logo on the car body is relatively fixed. Therefore, for different vehicles located at the first position, the positions of the license plates or logos of these different vehicles in the images containing the vehicles in the multiple images captured by the camera including these different vehicles can be considered to be relatively close. Therefore, in the embodiment of the present application, the aforementioned target object on the first vehicle may be the license plate on the first vehicle or the vehicle logo on the first vehicle.

It should be noted that the embodiment of the present application does not specifically limit the position of the aforementioned target object in the first image. As an example, the position of the target object in the first image may be the image coordinates of the target object in the first image. Coordinates in the system. As another example, the position of the target object in the first image may also be the relative position of the target object in the first image. Wherein, the relative position of the target object in the first image may be that the target object is in a certain area in the first image. For example, the target object is in the upper part of the first image, the target object is in the middle of the first image, and the target object is in the lower part of the first image, and so on.

The embodiment of the present application does not specifically limit the specific implementation manner of determining the distance between the first position and the second position according to the position of the target object in the first image. As an example, the mapping between the position and the distance may be predetermined Relationship, the distance corresponding to the position of the target object in the first image is obtained, and then the distance obtained by using the mapping relationship is determined as the distance between the first position and the second position. The embodiment of the present application does not specifically limit the foregoing predetermined mapping relationship between the position and the distance. The predetermined mapping relationship between the position and the distance includes at least the position of the target object in the first image, and the second position and The mapping relationship between the distances between the first positions.

The predetermined mapping relationship between the position and the distance may be, for example, the mapping relationship shown in Table 1 below.

Table 1

位置position	距离distance
上部Upper part	15米15 meters
中部Central	10米10 meters
下部Lower part	5米5 meters

It is understandable that if the target object on the first vehicle is located on the upper part of the first image, based on the mapping relationship shown in Table 1, it can be determined that the distance between the first position and the second position is 15 meters.

It should be noted that Table 1 is only shown for the convenience of understanding and does not constitute a limitation to the embodiment of the present application. The position of the target object in the first image in the first image is not limited to the "upper part" shown in Table 1. The three situations of "", "middle" and "lower" may also include other situations, which will not be listed here.

Next, the method for determining the relative direction between the first position and the second position will be introduced. Considering that in practical applications, the camera has an installation direction when it is installed, and the installation direction of the camera determines the shooting direction of the camera to a certain extent. For the first vehicle driving on the road, the shooting direction of the camera determines whether the first vehicle is driving from the first position to the direction of the second position, or from the direction of the second position. To the first position. That is, the relative direction between the first position and the second position can be determined according to the driving direction of the first vehicle and the shooting direction of the camera.

Therefore, in an implementation of the embodiment of the present application, the traveling direction of the first vehicle can be determined according to the spatio-temporal trajectory data of the first vehicle, and the shooting direction of the camera can be determined, and then according to the traveling direction of the first vehicle and the shooting of the camera The direction determines the relative direction between the first position and the second position.

In the embodiment of the present application, when determining the traveling direction of the first vehicle according to the spatiotemporal trajectory data of the first vehicle, for example, the traveling trajectory of the first vehicle may be determined first according to the spatiotemporal trajectory data of the first vehicle, and then according to the first vehicle’s traveling direction. The driving trajectory determines the driving direction of the first vehicle.

When determining the driving direction of the first vehicle according to the driving trajectory of the first vehicle, there may be multiple implementation manners. As an example, the driving direction of the first vehicle may be determined according to at least two positions on the driving trajectory of the first vehicle. . As another example, the direction of the tangent line passing through the first position in the driving track may be determined as the driving direction of the first vehicle.

In the embodiment of the present application, the shooting direction of the camera may be determined according to the installation information of the camera. In the embodiment of the present application, the shooting direction of the camera may be the same as the traveling direction of the first vehicle, or the direction opposite to the traveling direction of the first vehicle. In the embodiment of the present application, the shooting direction of the camera is consistent with the driving direction of the first vehicle, and it can be considered that the angle between the shooting direction of the camera and the driving direction of the first vehicle is less than or equal to 90°. The shooting direction of the camera is consistent with the reverse direction of the traveling direction of the first vehicle, and it can be considered that the angle between the shooting direction of the camera and the traveling direction of the first vehicle is greater than 90°. It is understandable that if the shooting direction of the camera is consistent with the driving direction of the first vehicle, when the camera shoots the first vehicle, the target object at the rear of the first vehicle can be captured. If the photographing direction of the camera is the same as the reverse direction of the traveling direction of the first vehicle, the camera can photograph the target object at the front of the first vehicle when photographing the first vehicle.

Of course, in the embodiment of the present application, the relative direction between the aforementioned first position and the second position may also be preset, and the embodiment of the present application does not specifically limit the preset relative direction. For example, the preset relative direction may be a true north direction where the second position is located at the first position; for another example, the preset relative direction may be a true south direction where the second position is located at the first position; etc., I won’t enumerate one by one here. As mentioned above, the spatial position relationship between the first position and the second position can be embodied as the distance between the first position and the second position and/or the relative direction between the first position and the second position, which is described below in conjunction with FIG. 2 When the spatial position relationship between the first position and the second position is embodied as the distance between the first position and the second position, the specific implementation manner of the foregoing step 104.

Refer to FIG. 2, which is a schematic flowchart of a method for determining a second position according to an embodiment of the application. The method shown in FIG. 2 can be implemented through the following steps 201-202, for example.

Step 201: Determine the position of the target object in the first image according to the first image, and determine the distance between the first position and the second position according to the obtained position of the target object in the first image.

It should be noted that the target object mentioned here is located on the first vehicle.

Regarding the specific implementation of step 201, reference may be made to the related description of the "distance between the first position and the second position" above, which will not be described in detail here.

Step 202: Determine the second position according to the spatiotemporal trajectory data of the first vehicle, the distance between the first position and the second position, and the first position.

Specifically, it may be: determine the travel trajectory of the first vehicle according to the spatiotemporal trajectory data of the first vehicle, and determine the first vehicle’s travel trajectory according to the distance between the first position and the second position, the first position and the travel trajectory of the first vehicle Two positions.

After determining the distance between the first position and the second position, the second position can be determined according to the first position and the distance between the first position and the second position. In the embodiment of the present application, considering that the camera is generally installed above the road, it can be considered that the first vehicle may pass the geographic coordinates of the camera during the driving process, that is, pass the second position, or the second position is in the first position. Near the trajectory of the vehicle. Therefore, in the embodiment of the present application, the spatiotemporal trajectory of the first vehicle may be determined according to the spatiotemporal trajectory data of the first vehicle. Then, the second position is determined according to the distance between the first position and the second position, the first position, and the travel trajectory of the first vehicle. For example, according to the driving trajectory, a position whose distance from the first position is equal to the distance between the aforementioned first position and the second position is determined as the second position.

It is understandable that in practical applications, the first position is generally not the starting point or the end point of the driving track of the first vehicle. Therefore, the determined distance from the first position, which is equal to the aforementioned "distance between the first position and the second position", may include two positions. In the embodiment of the present application, the two positions may be Any one of the positions is determined as the aforementioned second position.

In an implementation manner of the embodiment of the present application, considering that in practical applications, the data volume of the spatiotemporal trajectory data of the first vehicle is relatively large, therefore, if all spatiotemporal trajectory data of the first vehicle is used, the data of the first vehicle is determined For a complete driving trajectory, the corresponding calculation amount will be relatively large. When determining the second position, the actual travel trajectory of the first vehicle that needs to be used is the travel trajectory of the first vehicle during a period of time near the shooting moment of the first image. In view of this, in the embodiment of the present application, in order to reduce the amount of calculation for determining the second position, and correspondingly improve the efficiency of determining the second position, the spatio-temporal trajectory data of the first vehicle can be extracted from the time period. Spatio-temporal trajectory data, the preset time period is a time period including the shooting moment of the aforementioned first image, and then based on the extracted spatio-temporal trajectory data within the preset time period, the driving trajectory of the first vehicle is determined. The embodiment of the present application does not specifically limit the preset time period. For example, the preset time period is a time period from a first moment to a second moment, where the first moment is a certain moment before the shooting moment of the first image, The second moment is a moment after the shooting moment of the first image.

As mentioned above, when step 202 is specifically implemented, according to the driving trajectory of the first vehicle, the position whose distance from the first position is equal to the distance between the aforementioned first position and the second position can be determined as the second position. . The distance between the first position and the first position in the travel trajectory of the first vehicle is equal to the aforementioned distance between the first position and the second position, and may include two positions. In this case, in the embodiment of the present application, any one of the two positions may be determined as the aforementioned second position. In an implementation manner of the embodiment of the present application, in order to further improve the accuracy of the determined second position, the second position may also be determined in combination with the relative direction between the first position and the second position. In the following, another method for determining a second position provided by an embodiment of the present application will be introduced in conjunction with FIG. 3.

Refer to FIG. 3, which is a schematic flowchart of yet another method for determining a second position according to an embodiment of the application. The method shown in FIG. 3 can be implemented through the following steps 301-303, for example.

Step 301: Determine the driving direction of the first vehicle according to the spatio-temporal trajectory data of the first vehicle; and determine the shooting direction of the camera.

Regarding the specific implementation of step 301, reference may be made to the related description of the "relative direction between the first position and the second position" above, and the description will not be repeated here.

Step 302: Determine the relative direction between the first position and the second position according to the driving direction of the first vehicle and the shooting direction of the camera. Step 303: Determine the second position according to the relative direction between the first position and the second position, the first position, and the distance between the first position and the second position.

As mentioned above, the first vehicle may pass through the second position while driving. In this case, in the embodiment of the present application, the relative direction between the first position and the second position may be determined by the relative positions of the first position and the second position in the driving trajectory of the first vehicle. Among them, the relative position of the first position and the second position in the driving trajectory of the first vehicle refers to whether the first vehicle passes the first position and then the second position, or whether it passes the second position first. Pass the first position again. It can be understood that, in practical applications, if the driving direction of the first vehicle is the same as the shooting direction of the camera, the first vehicle first passes the second position, and then passes the first position. If the driving direction of the first vehicle is not consistent with the shooting direction of the camera, the first vehicle first passes through the first position and then passes through the second position.

It is understandable that after determining the relative position of the first position and the second position in the driving trajectory of the first vehicle, the relative position and the first position of the first position and the second position in the driving trajectory of the first vehicle can be determined. A position and the distance between the first position and the second position determine the second position. It can be understood with reference to FIG. 4, which is a schematic diagram of a driving track of a first vehicle according to an embodiment of the application.

In FIG. 4, 401 is the travel trajectory of the first vehicle, and the arrow 401 a on the travel trajectory 401 indicates the direction of the travel trajectory 401. The first position is 402 shown in FIG. 4, and there are two positions on the driving track whose distance from the first position 402 is equal to the distance between the first position and the second position, namely 403 and 404, and the camera shooting If the direction is consistent with the driving trajectory 401, it is determined that the first vehicle passes the second position first, and then passes the first position 401. Therefore, the position 403 can be determined as the second position.

As before, the second location may be near the driving track of the first vehicle. In this case, in another implementation manner of the embodiment of the present application, the second position can be considered to be located on the first tangent line, where the first tangent line is the tangent line of the driving track of the first vehicle at the first position . Further, the relative direction between the first position and the second position may be determined by the relative position of the first position and the second position on the aforementioned first tangent line. Specifically, the relative position of the first position and the second position in the first tangent line refers to whether the first vehicle is moving from the first position to the direction of the second position, or from the second position Head to the first position in your direction.

In practical applications, if the driving direction of the first vehicle is the same as the shooting direction of the camera, the first vehicle will move from the direction of the second position to the first position. If the driving direction of the first vehicle is not consistent with the shooting direction of the camera, the first vehicle drives from the first position to the direction of the second position.

It is understandable that after determining the relative position of the first position and the second position in the first tangent, the relative position of the first position and the second position in the first tangent, the first position, and The distance between the first position and the second position determines the second position.

It can be understood with reference to FIG. 5, which is a schematic diagram of another driving trajectory of the first vehicle according to an embodiment of the application.

In FIG. 5, 501 is the driving trajectory of the first vehicle, and the arrow 501 a on the driving trajectory 501 indicates the direction of the driving trajectory 501. The first position is 502 shown in FIG. 5, and 503 is the tangent line of the travel trajectory 501 at the first position 502. There are two positions on the tangent line 503 whose distance from the first position 502 is equal to the distance between the first position and the second position, 505 and 506 respectively. If the camera's shooting direction is consistent with the driving track 501, the first vehicle will move from the direction of the second position to the first position. Therefore, the position 506 can be determined as the second position.

It should be noted that the foregoing step 104 may be implemented in other ways in addition to being implemented through steps 201-202. Specifically, considering that in practical applications, the shooting field of view of the camera is limited, in other words, the position of the farthest object that can be shot by the camera is not far away from the second position. Therefore, in another implementation manner of the embodiment of the present application, the first position may be determined as the second position, that is, the position of the first vehicle when the camera shoots the first image is determined as the geographic coordinate position of the camera . This approach is simple and efficient, but it may cause low accuracy.

As mentioned above, the first vehicle is a vehicle with the function of reporting spatio-temporal trajectory data. It is understandable that in practical applications, there are many vehicles included in the image captured by the camera. In addition to the aforementioned first vehicle, it may also include a second vehicle, a third vehicle, etc., and not all vehicles are equipped with Vehicles with spatio-temporal data reporting function. In an implementation manner of the present application, after acquiring the first image taken by the camera, it may be further determined whether the first vehicle included in the first image is a vehicle with spatiotemporal data reporting. Specifically, in this year's application embodiment, the first image can be analyzed to identify the license plate number of the first vehicle. Then match the license plate number of the first vehicle with the license plate number of the vehicle with spatiotemporal trajectory data reporting function. If the matching is successful, it is determined that the license plate number of the vehicle with spatiotemporal trajectory data reporting function includes the license plate of the aforementioned first vehicle When the number is displayed, it can be determined that the first vehicle is a vehicle with the function of reporting spatiotemporal trajectory data.

As mentioned above, some online car-hailing has the function of reporting spatio-temporal data. Therefore, in this embodiment of the application, the license plate number of a vehicle with the function of reporting spatio-temporal trajectory data can be obtained from the server of the online car-hailing platform, and then further based on the acquisition The license plate number of the vehicle with spatiotemporal trajectory data reporting function determines whether the first vehicle is a vehicle with spatiotemporal trajectory data reporting function. Regarding the specific implementation manner of recognizing the license plate number of the first vehicle, for example, a general image recognition technology can be used to determine it, which will not be described in detail here.

As mentioned above, the target object on the first vehicle may be the license plate on the first vehicle. It is understandable that whether the first vehicle is a vehicle capable of reporting spatiotemporal trajectory data can be determined according to the license plate number of the first vehicle. In other words, when determining whether the first vehicle is a vehicle with a spatiotemporal trajectory reporting function, the license plate of the first vehicle in the first image has been identified. Therefore, if the target object on the first vehicle is the license plate of the first vehicle, rather than other objects, the second recognition of other objects on the vehicle can be avoided, part of the computing resources can be saved, and the efficiency of determining the second position can be improved accordingly.

Based on the method for determining the position of the camera provided in the above embodiments, an embodiment of the present application also provides an apparatus for determining the position of a camera, which is described below with reference to the accompanying drawings.

Refer to FIG. 6, which is a schematic structural diagram of an apparatus for determining a camera position according to an embodiment of the application.

The device 600 for determining the position of the camera provided in the embodiment of the present application may include, for example, a first acquiring unit 601, a first determining unit 602, a second acquiring unit 603, a second determining unit 604, a third acquiring unit 605, and a third determining unit. Unit 606.

The first obtaining unit 601 is configured to obtain a first image including a first vehicle shot by a camera;

The first determining unit 602 is configured to determine the shooting moment of the first image;

The second acquiring unit 603 is configured to acquire spatiotemporal trajectory data of the first vehicle;

The second determining unit 604 is configured to determine the first position of the first vehicle at the shooting moment according to the spatio-temporal trajectory data of the first vehicle;

The third acquiring unit 605 is configured to acquire the spatial position relationship between the first position and the second position, where the second position is the geographic coordinate position of the camera;

The third determining unit 606 is configured to determine the second position according to the first position, the spatial position relationship between the first position and the second position.

In a possible implementation manner, the spatial position relationship between the first position and the second position includes:

The distance between the first position and the second position, and/or the relative direction between the first position and the second position.

In a possible implementation manner, the distance between the first position and the second position is determined in the following manner:

Determine the position of the target object in the first image according to the first image, and determine the position between the first position and the second position according to the determined position of the target object in the first image The distance; the target object is located in the first vehicle.

In a possible implementation manner, the relative direction between the first position and the second position is determined in the following manner:

Determine the traveling direction of the first vehicle according to the spatiotemporal trajectory data of the first vehicle; and determine the shooting direction of the camera; determine the traveling direction of the first vehicle and the shooting direction of the camera The relative direction between the first position and the second position; the shooting direction of the camera is consistent with the traveling direction of the first vehicle or the opposite direction of the traveling direction of the first vehicle.

In a possible implementation manner, the third determining unit 606 includes:

The first determining subunit is configured to determine the position of the target object in the first image according to the first image; the target object is located in the first vehicle;

A second determining subunit, configured to determine the distance between the first position and the second position according to the obtained position of the target object in the first image;

The third determining subunit is configured to determine the second position according to the spatiotemporal trajectory data of the first vehicle, the distance, and the first position.

In a possible implementation manner, the third determining subunit is specifically configured to:

According to the spatio-temporal trajectory data of the first vehicle, determine the traveling direction of the first vehicle; and determine the shooting direction of the camera; the shooting direction of the camera is consistent with the traveling direction of the first vehicle or is consistent with the traveling direction of the first vehicle. The reverse direction of the driving direction of the first vehicle is the same; according to the driving direction of the first vehicle and the shooting direction of the camera, the relative direction between the first position and the second position is determined; according to the The relative direction between the first position and the second position, the first position and the distance determine the second position.

In a possible implementation manner, the second determining subunit is specifically used for:

According to the predetermined mapping relationship between the position and the distance, the distance corresponding to the position of the target object in the first image is obtained, and the obtained distance is determined as the first position and the second position. The distance between the positions; the predetermined mapping relationship between the position and the distance includes the position of the target object in the first image, and the distance between the second position and the first position The mapping relationship between distances.

In a possible implementation manner, the third determining unit 606 is specifically configured to:

The first position is determined as the second position.

In a possible implementation manner, the device 600 further includes: an image analysis unit, configured to analyze the first image and identify the license plate number of the first vehicle;

The fourth determining unit is configured to match the license plate number of the first vehicle with the license plate number of the vehicle with spatiotemporal trajectory data reporting function, and if the matching is successful, determine that the first vehicle is the one with spatiotemporal trajectory data reporting function vehicle.

Since the device 600 is a device corresponding to the method provided in the above method embodiment, the specific implementation of each unit of the device 600 is based on the same idea as the above method embodiment. Therefore, regarding each unit of the device 600 For specific implementation, please refer to the description part of the above method embodiment, which will not be repeated here.

The embodiment of the present application also provides a device for determining a camera position corresponding to the device 600 for determining the camera position, and the device for determining the camera position includes a processor and a memory;

The memory is used to store instructions;

The processor is configured to execute the instructions in the memory, and execute the method for determining the position of the camera provided in the above embodiments.

It should be noted that the hardware structure of the device for determining the camera position of the device 600 for determining the camera position provided in the embodiment of the present application may be the structure shown in FIG. 7, which is a device provided by the embodiment of the present application. A schematic diagram of the structure of a device for determining the camera position.

Please refer to FIG. 7, the device 700 for determining the position of the camera includes a processor 710, a communication interface 720, and a memory 730. The number of processors 710 in the device 700 for determining the camera position may be one or more. One processor is taken as an example in FIG. 7. In the embodiment of the present application, the processor 710, the communication interface 720, and the memory 730 may be connected through a bus system or other methods. In FIG. 7, the connection through the bus system 740 is taken as an example.

The processor 710 may be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and an NP. The processor 710 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

The memory 730 may include a volatile memory (English: volatile memory), such as random-access memory (RAM); the memory 730 may also include a non-volatile memory (English: non-volatile memory), such as fast Flash memory (English: flash memory), hard disk drive (HDD) or solid-state drive (SSD); the memory 730 may also include a combination of the foregoing types of memory.

The memory 730 may store data such as the spatial position relationship between the first position and the second position mentioned in the foregoing embodiment.

Optionally, the memory 730 stores an operating system and a program, an executable module or a data structure, or a subset of them, or an extended set of them, where the program may include various operation instructions for implementing various operations. The operating system may include various system programs for implementing various basic services and processing hardware-based tasks. The processor 710 can read the program in the memory 730 to implement the method for determining the position of the camera provided in the embodiment of the present application.

The bus system 740 may be a peripheral component interconnect standard (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus system 740 can be divided into an address bus, a data bus, a control bus, and so on. For ease of representation, only one thick line is used in FIG. 7, but it does not mean that there is only one bus or one type of bus.

In some cases, the memory is not necessary, or the memory can be integrated with the processor. The embodiment of the present application also provides a device for determining the position of a camera. The device includes: a processor and an interface; the interface communicates with the processor, and the interface is used to provide data (because the processor itself hardly owns The function of storing data, so the data required by the processor to execute the method can be obtained through the interface, for example: the first image, spatiotemporal trajectory data) to the processor. The processor receives data through the interface and then runs program instructions to process the data provided by the interface, so as to execute the method for determining the position of the camera provided in the above embodiments. In some cases, communication methods other than the bus may be used between the interface and the processor.

The embodiments of the present application also provide a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the method for determining the position of the camera provided in the above embodiments.

The embodiments of the present application also provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the method for determining the position of the camera provided in the above embodiments.

The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, without having to use To describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in a sequence other than the content illustrated or described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those clearly listed. Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

Those skilled in the art can clearly understand that, for the convenience and conciseness of the description, the specific working process of the above-described system, device, and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method may be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of units is only a logical business division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or integrated. To another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the service units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software business unit.

If the integrated unit is implemented in the form of a software business unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes. .

Those skilled in the art should be aware that, in one or more of the foregoing examples, the services described in the present invention can be implemented by hardware, software, firmware, or any combination thereof. When implemented by software, these services can be stored in a computer-readable medium or transmitted as one or more instructions or codes on the computer-readable medium. The computer-readable medium includes a computer storage medium and a communication medium, where the communication medium includes any medium that facilitates the transfer of a computer program from one place to another. The storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

The above specific implementations further describe the objectives, technical solutions, and beneficial effects of the present invention in further detail. It should be understood that the above are only specific implementations of the present invention.

The above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments: it is still possible to modify or modify the technical solutions described in the foregoing embodiments. Some of the technical features are equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

A method for determining the position of a camera, characterized in that the method includes:

Acquiring a first image including a first vehicle captured by a camera, and determining a shooting moment of the first image;

Acquiring spatiotemporal trajectory data of the first vehicle, and determining the first position of the first vehicle at the shooting moment according to the spatiotemporal trajectory data of the first vehicle;

Acquiring a spatial position relationship between the first position and a second position, where the second position is the geographic coordinate position of the camera;

The second position is determined according to the spatial position relationship between the first position, the first position, and the second position.
The method according to claim 1, wherein the spatial position relationship between the first position and the second position comprises:

The distance between the first position and the second position, and/or the relative direction between the first position and the second position.
The method according to claim 2, wherein the distance between the first position and the second position is determined in the following manner:

Determine the position of the target object in the first image according to the first image, and determine the position between the first position and the second position according to the determined position of the target object in the first image The distance; the target object is located in the first vehicle.
The method according to claim 2, wherein the relative direction between the first position and the second position is determined in the following manner:

Determining the traveling direction of the first vehicle according to the spatiotemporal trajectory data of the first vehicle; and determining the shooting direction of the camera;

According to the driving direction of the first vehicle and the shooting direction of the camera, determine the relative direction between the first position and the second position; the shooting direction of the camera is the same as the driving direction of the first vehicle The direction is the same or the direction opposite to the traveling direction of the first vehicle.
The method according to claim 1, wherein the determining the second position according to the spatial position relationship between the first position, the first position and the second position comprises:

Determine the position of the target object in the first image according to the first image, and determine the position between the first position and the second position according to the obtained position of the target object in the first image The distance; the target object is located in the first vehicle;

The second position is determined according to the spatiotemporal trajectory data of the first vehicle, the distance, and the first position.
The method according to claim 5, wherein the determining the second position according to the spatiotemporal trajectory data of the first vehicle, the distance, and the first position comprises:

According to the spatio-temporal trajectory data of the first vehicle, determine the traveling direction of the first vehicle; and determine the shooting direction of the camera; the shooting direction of the camera is consistent with the traveling direction of the first vehicle or is consistent with the traveling direction of the first vehicle. The reverse direction of the traveling direction of the first vehicle is consistent;

Determining the relative direction between the first position and the second position according to the driving direction of the first vehicle and the shooting direction of the camera;

The second position is determined according to the relative direction between the first position and the second position, the first position and the distance.
The method according to claim 3 or 5, wherein the determining the distance between the first position and the second position according to the position of the target object in the first image comprises:

According to the predetermined mapping relationship between the position and the distance, the distance corresponding to the position of the target object in the first image is obtained, and the obtained distance is determined as the first position and the second position. The distance between locations;

The predetermined mapping relationship between the position and the distance includes the mapping relationship between the position of the target object in the first image and the distance between the second position and the first position .
The method according to claim 1, wherein the determining the second position according to the spatial position relationship between the first position, the first position and the second position comprises:

The first position is determined as the second position.
The method according to claim 1, wherein after acquiring the first image including the first vehicle captured by the camera and before determining the shooting moment of the first image, the method further comprises:

Analyzing the first image to identify the license plate number of the first vehicle;

The license plate number of the first vehicle is matched with the license plate number of the vehicle with the spatiotemporal trajectory data reporting function, and if the matching is successful, it is determined that the first vehicle is a vehicle with the spatiotemporal trajectory data reporting function.
The method according to any one of claims 3 and 5-7, wherein the target object comprises:

License plate, or, car logo.
A device for determining the position of a camera, characterized in that the device comprises:

The first acquiring unit is configured to acquire the first image including the first vehicle captured by the camera;

A first determining unit, configured to determine the shooting moment of the first image;

The second acquiring unit is used to acquire the spatiotemporal trajectory data of the first vehicle;

A second determining unit, configured to determine the first position of the first vehicle at the shooting moment according to the spatio-temporal trajectory data of the first vehicle;

A third acquiring unit, configured to acquire the spatial position relationship between the first position and the second position, where the second position is the geographic coordinate position of the camera;

The third determining unit is configured to determine the second position according to the first position, the spatial position relationship between the first position and the second position.
The device according to claim 11, wherein the third determining unit comprises:

The first determining subunit is configured to determine the position of the target object in the first image according to the first image; the target object is located in the first vehicle;

A second determining subunit, configured to determine the distance between the first position and the second position according to the obtained position of the target object in the first image;

The third determining subunit is configured to determine the second position according to the spatiotemporal trajectory data of the first vehicle, the distance, and the first position.
The device according to claim 12, wherein the third determining subunit is specifically configured to:

According to the spatio-temporal trajectory data of the first vehicle, determine the traveling direction of the first vehicle; and determine the shooting direction of the camera; the shooting direction of the camera is consistent with the traveling direction of the first vehicle or is consistent with the traveling direction of the first vehicle. The reverse direction of the traveling direction of the first vehicle is consistent;

Determining the relative direction between the first position and the second position according to the driving direction of the first vehicle and the shooting direction of the camera;

The second position is determined according to the relative direction between the first position and the second position, the first position and the distance.
The device according to claim 12, wherein the second determining subunit is specifically configured to:

According to the predetermined mapping relationship between the position and the distance, the distance corresponding to the position of the target object in the first image is obtained, and the obtained distance is determined as the first position and the second position. The distance between locations;

The predetermined mapping relationship between the position and the distance includes the mapping relationship between the position of the target object in the first image and the distance between the second position and the first position .
The device according to claim 11, wherein the third determining unit is specifically configured to:

The first position is determined as the second position.
The device according to claim 11, wherein the device further comprises:

An image analysis unit, configured to analyze the first image and identify the license plate number of the first vehicle;

The fourth determining unit is configured to match the license plate number of the first vehicle with the license plate number of the vehicle with spatiotemporal trajectory data reporting function, and if the matching is successful, determine that the first vehicle is the one with spatiotemporal trajectory data reporting function vehicle.
A device for determining the position of a camera, characterized in that the device includes: a processor and an interface;

The interface is used to provide data to the processor;

The processor communicates with the interface, and is configured to receive data through the interface, and execute the method according to any one of claims 1-10 by running program instructions.
A computer-readable storage medium, characterized by comprising instructions, which when run on a computer, causes the computer to execute the method according to any one of claims 1-10.