Multi-sensor cooperative positioning method and device, storage medium and terminal equipment

A collaborative positioning, multi-sensor technology, applied in the field of computer vision, can solve problems such as poor intuition, difficult tracking and positioning of moving objects/pedestrians, etc., to achieve the effect of convenient tracking and positioning, and intuitive display of monitoring areas.

Pending Publication Date: 2022-01-28
深圳市联洲国际技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, almost all monitoring systems on the market are similar to the split-screen display method of Jiugongge. This split-screen display method is less intuitive. If there are too many, it is difficult to track and locate moving objects / pedestrians

Method used

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  • Multi-sensor cooperative positioning method and device, storage medium and terminal equipment
  • Multi-sensor cooperative positioning method and device, storage medium and terminal equipment
  • Multi-sensor cooperative positioning method and device, storage medium and terminal equipment

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Embodiment Construction

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0050] An embodiment of the present invention provides a multi-sensor cooperative positioning method, see figure 1 As shown, it is a flow chart of a preferred embodiment of a multi-sensor cooperative positioning method provided by the present invention, and the method includes steps S11 to S15:

[0051] Step S11. Based on the target to be located, construct a probability grid map corresponding to the monitoring area; wherein, the monitoring area includes at least two...

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Abstract

The invention discloses a multi-sensor cooperative positioning method and device, a storage medium and terminal equipment, and the method comprises the steps: building a probability grid map of a monitoring region based on a to-be-positioned target, and enabling the interior of the monitoring region to comprise at least two monitoring sensors; performing initialization marking on the probability grid map according to the occupation grid map and the monitoring grid map of the monitoring area; when any monitoring sensor detects a to-be-positioned target, acquiring a first target grid where the to-be-positioned target is located in the monitoring grid map; updating the marked probability grid map according to the first target grid; obtaining a positioning result of the to-be-positioned target according to the updated probability grid map; wherein the grid mark values in the occupied grid map, the monitoring grid map and the marked probability grid map correspondingly represent whether obstacles exist or not, whether the objects can be monitored or not and the existing probability value of the to-be-positioned object. According to the invention, the monitoring area can be displayed more visually, and the moving body can be tracked and positioned quickly and conveniently.

Description

technical field [0001] The present invention relates to the technical field of computer vision, in particular to a multi-sensor cooperative positioning method, device, computer-readable storage medium and terminal equipment. Background technique [0002] In the monitoring system of smart home or large scene, the positioning of moving objects / pedestrians is a very important function. At present, almost all monitoring systems on the market are similar to the split-screen display method of Jiugongge. This split-screen display method is less intuitive. If the number is too large, it is difficult to track and locate moving objects / pedestrians. Contents of the invention [0003] The technical problem to be solved by the embodiments of the present invention is to provide a multi-sensor cooperative positioning method, device, computer-readable storage medium and terminal equipment, which can display the monitoring area more intuitively, and track and position the moving body quic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/10G06V10/764G06K9/62G06T7/70
CPCG06T7/70G06T2207/30232G06T2207/20076G06F18/2415
Inventor 陈英博
Owner 深圳市联洲国际技术有限公司
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