A trajectory determination method, device and apparatus

Abstract

The embodiments of this specification provide a trajectory determination method, device and equipment, wherein the method includes: obtaining a first trajectory data set of a target place within a target time period; converting the first coordinate in the first trajectory data set into a second coordinate based on the origin of the target place to obtain a second trajectory data set; performing data cleaning on the second coordinates of multiple personnel trajectories in the second trajectory data set to obtain a third trajectory data set; wherein the third trajectory data set is used to characterize the center coordinates of the multiple personnel moving within the target time period; and determining the target trajectory of the target place within the target time period based on the third trajectory data set. In the embodiments of this specification, by performing data cleaning on the second coordinates of multiple personnel trajectories in the target place within the target time period, the most important trajectory of personnel movement in the target place within the target time period can be accurately determined.

Description

Technical Field

[0001] The embodiments of the present specification relate to the field of data processing technology, and in particular to a trajectory determination method, device and equipment. Background Art

[0002] Cameras are very common in our daily lives and are widely used in video conferencing, telemedicine, real-time monitoring, etc. With the rise of the Internet of Things industry, cameras have begun to be used to capture people's trajectories. In some scenarios, it is necessary to determine the main trajectories of people walking in a place in order to provide a data basis for the optimization of the place.

[0003] The existing trajectory determination method mainly combines the trajectory of people obtained by multiple single cameras. If there are a large number of people in the place, it will be very confusing to display the trajectory of each person. Since there are a large number of trajectory points that are not related to the main trajectory of people walking, the accuracy of manually determining the trajectory of the most people walking in the place is low. Therefore, the technical solution in the existing technology cannot accurately determine the trajectory of the most people walking in a place.

[0004] Currently, no effective solution has been proposed to the above problems. Summary of the invention

[0005] The embodiments of this specification provide a trajectory determination method, device and equipment to solve the problem in the prior art that it is impossible to accurately determine the trajectory of the most moving people in a place.

[0006] An embodiment of the present specification provides a trajectory determination method, including: obtaining a first trajectory data set of a target place within a target time period; wherein the first trajectory data set contains first coordinates of multiple personnel trajectories recorded by each camera in the target place within the target time period; converting the first coordinates in the first trajectory data set into second coordinates based on the origin of the target place to obtain a second trajectory data set; performing data cleaning on the second coordinates of the multiple personnel trajectories in the second trajectory data set to obtain a third trajectory data set; wherein the third trajectory data set is used to characterize the center coordinates of the multiple personnel moving within the target time period; and determining the target trajectory of the target place within the target time period according to the third trajectory data set.

[0007] The embodiment of the present specification also provides a trajectory determination device, including: an acquisition module, used to acquire a first trajectory data set of a target place within a target time period; wherein the first trajectory data set contains first coordinates of multiple personnel trajectories recorded by each camera in the target place within the target time period; a conversion module, used to convert the first coordinates in the first trajectory data set into second coordinates based on the origin of the target place to obtain a second trajectory data set; a data cleaning module, used to perform data cleaning on the second coordinates of the multiple personnel trajectories in the second trajectory data set to obtain a third trajectory data set; wherein the third trajectory data set is used to characterize the center coordinates of the multiple personnel moving within the target time period; a determination module, used to determine the target trajectory of the target place within the target time period based on the third trajectory data set.

[0008] The embodiment of the present specification also provides a trajectory determination device, including a processor and a memory for storing processor executable instructions, and the processor implements the steps of the trajectory determination method when executing the instructions.

[0009] The embodiment of the present specification also provides a computer-readable storage medium on which computer instructions are stored, and when the instructions are executed, the steps of the trajectory determination method are implemented.

[0010] The embodiments of this specification provide a trajectory determination, which can be obtained by obtaining a first trajectory data set of a target place within a target time period, and converting the first coordinate in the first trajectory data set into a second coordinate based on the origin of the target place to obtain a second trajectory data set, wherein the first trajectory data set contains the first coordinates of multiple personnel trajectories recorded by each camera in the target place within the target time period. Thus, the second coordinates of the multiple personnel trajectories in the second trajectory data set can be cleaned to obtain a third trajectory data set, wherein the third trajectory data set is used to characterize the center coordinates of the movement of multiple personnel within the target time period. Further, the target trajectory of the target place within the target time period can be determined based on the third trajectory data set. Thus, by cleaning the second coordinates of the multiple personnel trajectories recorded by each camera in the target place within the target time period, the most important trajectory of the movement of personnel in the target place within the target time period can be accurately determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are used to provide a further understanding of the embodiments of this specification, constitute a part of the embodiments of this specification, and do not constitute a limitation of the embodiments of this specification. In the drawings:

[0012] Figure 1 is a schematic diagram of the steps of the trajectory determination method provided in an embodiment of this specification;

[0013] Figure 2 is a structural schematic diagram of a trajectory determination device provided according to an embodiment of this specification;

[0014] Figure 3 It is a structural schematic diagram of a trajectory determination device provided according to an embodiment of this specification. DETAILED DESCRIPTION

[0015] The principles and spirit of the embodiments of this specification will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are provided only to enable those skilled in the art to better understand and implement the embodiments of this specification, and are not intended to limit the scope of the embodiments of this specification in any way. On the contrary, these embodiments are provided to make the disclosure of the embodiments of this specification more thorough and complete, and to fully convey the scope of the disclosure to those skilled in the art.

[0016] Those skilled in the art know that the implementation of the embodiments of this specification can be implemented as a system, device, method or computer program product. Therefore, the embodiments disclosed in this specification can be specifically implemented in the following forms, namely: complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0017] Although the processes described below include multiple operations that occur in a particular order, it should be clear that these processes may include more or fewer operations, which may be performed sequentially or in parallel (eg, using parallel processors or a multi-threaded environment).

[0018] See also Figure 1 This embodiment can provide a trajectory determination method. The trajectory determination method can be used to accurately determine the target trajectory of the most moving people in the target place according to the second coordinates of the origin of the target place relative to the multiple person trajectories recorded by each camera in the target place during the target time period. The above-mentioned trajectory determination method may include the following steps.

[0019] S101: Acquire a first trajectory data set of a target place within a target time period; wherein the first trajectory data set includes first coordinates of multiple person trajectories recorded by various cameras in the target place within the target time period.

[0020] In this embodiment, a first trajectory data set of a target place within a target time period can be obtained. Since a plurality of cameras are arranged in the target place, the first trajectory data set may include the first coordinates of a plurality of personnel trajectories recorded by each camera in the target place within the target time period, and the first coordinate of each personnel trajectory corresponds to a camera recording the data, and each first coordinate may include a value of a longitudinal coordinate and a value of a transverse coordinate.

[0021] In this embodiment, when a person passes through the camera shooting area, the camera will capture the trajectory of the person's movement and record the first coordinate of the person's trajectory relative to the camera. Therefore, the first coordinate of the above-mentioned person's trajectory is the coordinate with the camera that captures the person's trajectory as the origin.

[0022] In this embodiment, the above-mentioned target time period can be a pre-set time period for determining the main range of personnel movement in the target place, for example, it can be from 0:00 to 24:00 every day, or from 10:00 to 17:00 every day. The specific time period can be determined according to actual conditions, and this application does not limit this.

[0023] In this embodiment, the target place can be a place in a certain institution, for example: the first floor lobby (place) of a bank (institution), the second floor (place) of a shopping mall (institution), etc. Of course, the target place is not limited to the above examples, and those skilled in the art may make other changes under the inspiration of the technical essence of the embodiments of this specification, but as long as the functions and effects achieved are the same or similar to those of the embodiments of this specification, they should be covered within the protection scope of the embodiments of this specification.

[0024] In this embodiment, the first trajectory data set can be stored and displayed in the form of a table or an image, which can be determined according to actual conditions and is not limited in this embodiment of the specification. In order to distinguish trajectory data sets of different places, the first trajectory data set can also include at least one of the following: data flow number, camera identification, organization number, equipment number, place number, processing flag, business time, last update time, loading time, etc.

[0025] S102: Convert the first coordinates in the first trajectory data set into second coordinates based on the origin of the target location to obtain a second trajectory data set.

[0026] In this embodiment, in order to unify the recording method of multiple personnel trajectories recorded by each camera in the target place, so as to facilitate subsequent data cleaning, the first coordinate in the first trajectory data set can be converted into a second coordinate based on the origin of the target place, thereby obtaining a second trajectory data set. The second trajectory data set includes: the second coordinates of multiple personnel trajectories in the target place relative to the origin of the target place within the target time period.

[0027] In this embodiment, the origin of the target place can be determined according to the plan view of the target place. The origin of the target place can be the upper right corner or the lower left corner of the plan view of the target place. Of course, it can be understood that other positions can also be set as the origin, for example, the geometric center point of the plan view of the target place is used as the origin. The specific origin can be determined according to the actual situation, and this embodiment of the specification does not limit this.

[0028] In an embodiment, the plan view of the target location will be marked with the positions of each camera, so that a coordinate system can be established based on the origin of the target location, so that the coordinates of each camera in the target location can be determined. Further, since the first trajectory data set records the first coordinates of multiple personnel trajectories recorded by each camera relative to the camera, the coordinates of multiple personnel trajectories recorded by each camera relative to the origin of the target location can be determined based on the first trajectory data set and the coordinates of each camera in the target location.

[0029] S103: performing data cleaning on the second coordinates of the multiple personnel trajectories in the second trajectory data set to obtain a third trajectory data set; wherein the third trajectory data set is used to represent the central coordinates of the multiple personnel moving within the target time period.

[0030] In this embodiment, since the second trajectory data set records the coordinate data of all trajectories of personnel movement in the target location, including some trajectory points that are not related to the main range of personnel movement, the second coordinates of multiple personnel trajectories in the second trajectory data set can be cleaned to obtain the third trajectory data set.

[0031] In this embodiment, the coordinate data in the third trajectory data set may be used to represent the center coordinates of the movement of multiple persons in the target time period, wherein the center coordinates may be the coordinates of the location where the movement of persons is most intensive in the target location.

[0032] In this embodiment, since what needs to be determined is the location where the most densely moving people are located in the target place, the average value of the ordinate in the second coordinate of the trajectory of the people in the target place can be used, and the coordinate points whose difference between the ordinate value in the second coordinate and the average value of the ordinate is greater than the target threshold can be cleaned out. Further, the average value of the ordinate in the second coordinate of the trajectory of the people in the target place after preliminary cleaning can be recalculated, and the coordinate points whose difference between the ordinate value in the second coordinate point in the target place and the average value of the recalculated ordinate is greater than the target threshold can be cleaned out, and the above steps are repeated until the average value of the ordinate no longer changes, so that the cleaned second trajectory data set can be obtained.

[0033] In this embodiment, the average value of the ordinates that no longer change can be used as the ordinate value of the central coordinates of the movement of multiple personnel in the target time period, and the abscissa of the central coordinates of the movement of multiple personnel in the target time period can be the entire range of the target location in the horizontal direction. Of course, it can be understood that the coordinates of the trajectory point whose ordinate in the cleaned second trajectory data set is equal to the average value of the ordinates that no longer change can also be used as the above-mentioned central coordinates.

[0034] In one embodiment, since the coordinates that deviate far from the average value of the ordinate have been cleaned during the cleaning process, the cleaned second trajectory data set can also be directly used as the third trajectory data set. The specific method can be determined according to actual conditions, and this embodiment of the specification does not limit this.

[0035] In one embodiment, other methods may be used to clean the second coordinates of multiple personnel trajectories in the second trajectory data set. For example, the frequency of different values ​​of the ordinates of each second coordinate in the second trajectory data set may be determined, and the ordinate value corresponding to the highest frequency value may be used as the ordinate value of the center coordinates of the multiple personnel moving within the target time period. The specific value may be determined according to actual conditions, and the embodiments of this specification are not limited to this.

[0036] S104: Determine a target trajectory of a target location within a target time period according to the third trajectory data set.

[0037] In this embodiment, the target trajectory of the target place within the target time period can be determined based on the third trajectory data set, wherein the target trajectory can be used to characterize the location where the most densely populated personnel move in the target place within the target time period.

[0038] In this embodiment, the target trajectory may be a smooth curve obtained by fitting, or a broken line obtained by sequentially connecting the center coordinates of multiple persons in the third trajectory data set moving within the target time period. The specific value may be determined according to actual conditions, and this specification embodiment does not limit this.

[0039] In this embodiment, after determining the target trajectory of the target location within the target time period, the target trajectory can be displayed on the front-end display interface, and the third trajectory data set and the target trajectory can be stored in a preset database for subsequent query.

[0040] In one embodiment, the organization administrator corresponding to the target place can view the target trajectory of the target place by entering the query condition in the query interface, and the query condition may include at least one of the following: organization number, organization name, place name, place number, date range. The query interface may include multiple query buttons, and the query button may include at least one of the following: original data query, cleaned data query, cleaned data query, reset, etc.

[0041] In this embodiment, the above-mentioned organization number can be selected by the organization administrator, and the above-mentioned organization name will be automatically highlighted after the organization administrator selects the organization number. The above-mentioned venue number can be selected by the organization administrator, and the above-mentioned venue name will be automatically highlighted after the organization administrator selects the venue number. The above-mentioned date range may include a start time and an end time.

[0042] In this embodiment, the original data query is to display the first coordinates in the first trajectory data set within the selected date range on the site plan; the cleaned data query is to display the second coordinates in the cleaned second trajectory data set within the selected date range on the site plan; the cleaned data query is to display the second coordinates in the second trajectory data set within the selected date range on the site plan; reset can be to clear the query conditions in the query interface.

[0043] From the above description, it can be seen that the embodiment of this specification achieves the following technical effects: the first trajectory data set of the target place in the target time period can be obtained by converting the first coordinate in the first trajectory data set into the second coordinate based on the origin of the target place, and obtaining the second trajectory data set, wherein the first trajectory data set contains the first coordinates of multiple personnel trajectories recorded by each camera in the target place in the target time period. Thus, the second coordinates of the multiple personnel trajectories in the second trajectory data set can be cleaned to obtain a third trajectory data set, wherein the third trajectory data set is used to characterize the center coordinates of the movement of multiple personnel in the target time period. Further, the target trajectory of the target place in the target time period can be determined based on the third trajectory data set. Thus, by cleaning the second coordinates of the multiple personnel trajectories recorded by each camera in the target place in the target time period, the most important trajectory of the movement of personnel in the target place in the target time period can be accurately determined.

[0044] In one embodiment, converting the first coordinates in the first trajectory data set into the second coordinates based on the coordinates of the origin of the target place to obtain the second trajectory data set may include: obtaining a plan view of the target place, and determining the coordinates of each camera relative to the origin of the target place according to the plan view of the target place. Further, the cameras corresponding to the multiple personnel trajectories may be determined, and according to the cameras corresponding to the multiple personnel trajectories and the coordinates of each camera relative to the origin of the target place, the first coordinates in the first trajectory data set relative to each camera are converted into second coordinates relative to the origin of the target place to obtain the second trajectory data set.

[0045] In this embodiment, the origin of the target place can be determined according to the plan view of the target place. The origin of the target place can be the upper right corner or the lower left corner of the plan view of the target place. Of course, it can be understood that other positions can also be set as the origin, for example, the geometric center point of the plan view of the target place is used as the origin. The specific origin can be determined according to the actual situation, and this embodiment of the specification does not limit this.

[0046] In the implementation, since the plan view of the target place is marked with the positions of each camera, a coordinate system can be established based on the origin of the target place, and the coordinates of each camera in the target place relative to the origin of the target place can be determined. Further, since the first trajectory data set records the first coordinates of multiple personnel trajectories recorded by each camera relative to the camera, the second coordinates of multiple personnel trajectories recorded by each camera relative to the origin of the target place can be determined based on the first trajectory data set and the coordinates of each camera in the target place.

[0047] In one embodiment, the first coordinates relative to each camera in the first trajectory data set may be converted to second coordinates relative to the origin of the target location according to the cameras corresponding to the multiple personnel trajectories and the coordinates of each camera relative to the origin of the target location according to the following formula:

[0048] (x' i ,y' i )=(x i ,y i )+(x s ,y s )

[0049] Among them, (x i ,y i ) is the first coordinate of the person's trajectory recorded by the camera in the target location relative to the camera; (x s ,y s ) is the coordinate of the camera in the target location relative to the origin of the target location; (x' i ,y' i) is the second coordinate relative to the origin of the target location.

[0050] In one embodiment, performing data cleaning on the second coordinates of the multiple personnel trajectories in the second trajectory data set to obtain the third trajectory data set may include: obtaining a target interval range value and a target threshold value, and arranging the multiple personnel trajectories in the coordinate system of the target location according to the second trajectory data set to obtain the first coordinate system. Further, the first coordinate system may be divided into multiple regions according to the target interval range value, and the second coordinates of the personnel trajectories in the multiple regions may be data cleaned in turn according to the target threshold value to obtain the third trajectory data set.

[0051] In this embodiment, the above target interval range value can be used to divide the area. For example, the coordinate data of multiple personnel trajectories in the second trajectory data set are displayed in the coordinate system of the target location. The horizontal coordinate range of the coordinates of all personnel trajectories is between 1 and 10. When the target interval range value is 4, the above first coordinate system can be divided into three vertical areas [1,5), [5,9), and [9,10] based on the horizontal coordinate value. Of course, it can be understood that the area division can also be based on the vertical coordinate, which can be determined according to the actual situation, and the embodiments of this specification are not limited to this.

[0052] In this embodiment, multiple personnel trajectories are arranged in the coordinate system of the target location according to the second trajectory data set, and each personnel trajectory point can be drawn in the coordinate system of the target location according to the second coordinate of each personnel trajectory in the second trajectory data set, so that the first coordinate system can be obtained.

[0053] In this embodiment, since the lateral range of the target location may be relatively large and different locations may have different characteristics, in order to improve the accuracy of data cleaning, the first coordinate system can be divided into multiple areas according to the target interval range value, and the second coordinates of the personnel trajectories in each area can be used for data cleaning.

[0054] In one embodiment, the second coordinates of the trajectory of people in multiple areas are cleaned in turn according to the target threshold to obtain a third trajectory data set, which may include: determining the average value of the vertical coordinates of multiple trajectory points contained in the target area, and removing the second coordinates of the multiple trajectory points whose absolute value of the difference between the vertical coordinates and the average value is greater than the target threshold from the target area to obtain a processed target area. Further, the processed target area can be used as the target area, and the average value of the vertical coordinates of multiple second coordinates in the target area is re-determined until the average value of the vertical coordinates of the target area remains unchanged, thereby obtaining the central trajectory data set of the target area within the target time period. Traverse multiple areas until all trajectory points are included, and use the central trajectory data set of each area as the third trajectory data set.

[0055] In this embodiment, the above data cleaning steps may be performed on each region in turn, so as to obtain a central trajectory dataset of each region, and the central trajectory dataset of each region may be used as the third trajectory dataset.

[0056] In this embodiment, the average value of the unchanged ordinates finally obtained in a region can be used as the ordinate value of the central track in the region, and the abscissa of the central track can be the entire range of the target location in the horizontal direction. Of course, it can be understood that the coordinates of the track points whose ordinates are equal to the average value of the ordinates that no longer change among the multiple second coordinates finally left in the region after cleaning can also be used as the above-mentioned central track data set.

[0057] In one embodiment, determining the target trajectory of the target place within the target time period according to the third trajectory data set may include: drawing a target scatter plot according to the center coordinates of the movement of multiple persons within the target time period in the third trajectory data set and the coordinate system of the target place. Further, each trajectory point in the target scatter plot may be connected in sequence to obtain the target trajectory of the target place within the target time period.

[0058] In this embodiment, the target trajectory may be a smooth curve obtained by fitting, or a broken line obtained by sequentially connecting the center coordinates of multiple persons in the third trajectory data set moving within the target time period. The specific value may be determined according to actual conditions, and this specification embodiment does not limit this.

[0059] In one embodiment, before performing data cleaning on the second coordinates of the multiple person trajectories in the second trajectory data set, the method may further include: obtaining a fourth trajectory data set of the target location within the target time period; wherein the fourth trajectory data set includes the second coordinates of the multiple person trajectories in the target location before the target time period. Further, an initial interval range value and an initial threshold value may be obtained, and data cleaning is performed on the second coordinates in the fourth trajectory data set according to the initial interval range value and the initial threshold value to obtain a cleaned fourth trajectory data set.

[0060] In this embodiment, the cleaning error of data cleaning using the initial interval range value and the initial threshold value can be determined according to the fourth trajectory data set after cleaning. The initial interval range value and the initial threshold value can be randomly adjusted, and the adjusted interval range value and threshold value can be used to clean the second coordinate in the fourth trajectory data set until the number of times the interval range value and the threshold value are adjusted reaches a preset number, and the cleaning error corresponding to each group of interval range values ​​and threshold values ​​is obtained. Further, the interval range value and threshold value corresponding to the minimum value of the cleaning error can be used as the target interval range value and target threshold value.

[0061] In this embodiment, since the fourth trajectory data set contains the second coordinates of multiple personnel trajectories in the target place before the target time period, which is the data of the historical record of the target place, in order to make the interval range value and threshold obtained by training representative, the data in the fourth trajectory data set can be divided according to the target time period. For example: the target time period is from 8:00 to 20:00 on April 18, 2020, and the fourth trajectory data set contains the second coordinates of multiple personnel trajectories recorded by each camera in the target place from 0:00 to 24:00 on April 14, April 15, April 16, and April 17. According to the target time period, the second coordinate data from 8:00 to 20:00 every day on April 14, April 15, April 16, and April 17 can be selected for training, and during training, the data of each day is cleaned separately, instead of cleaning the data of the four days together.

[0062] In this embodiment, since the original data recorded by the camera is the first coordinate with the camera as the origin, before obtaining the fourth trajectory data set of the target place within the target time period, it can also include: obtaining the fifth trajectory data set of the target place within the target time period; wherein the fifth trajectory data set contains the first coordinates of multiple personnel trajectories recorded by each camera in the target place before the target time period. The first coordinate in the fifth trajectory data set can be converted into a second coordinate based on the origin of the target place to obtain the fourth trajectory data set. The specific method of performing coordinate conversion can refer to the aforementioned embodiment, and the repeated parts are not repeated.

[0063] In this embodiment, the above-mentioned preset number of times can be a positive integer greater than 0, for example: 100, 200, etc., which can be determined according to actual conditions and is not limited in this embodiment of the present specification.

[0064] In this embodiment, the size of the cleaning error can be changed correspondingly by continuously adjusting the size of the interval range value and the threshold value during the training process. The smaller the cleaning error, the better the cleaning result, which means that the distance between the trajectory point obtained by cleaning and the center point is closer. The size of the interval range and the threshold value is continuously adjusted until the number of training times reaches the preset number. At this time, the interval range value and threshold value corresponding to the smallest cleaning error can be selected as the target interval range value and target threshold value.

[0065] In this embodiment, after the target interval range value and the target threshold value are determined, the target interval range value and the target threshold value may be stored in a preset database so that they can be obtained in time when the target trajectory needs to be determined later.

[0066] In one embodiment, data cleaning is performed on the second coordinates in the fourth trajectory data set according to the initial interval range value and the initial threshold value to obtain the cleaned fourth trajectory data set, which may include: drawing a second coordinate system according to the second coordinates of multiple personnel trajectories in the target place before the target time period in the fourth trajectory data set. The second coordinate system can be divided into multiple regions according to the initial interval range value, and the average value of the vertical coordinates of the multiple trajectory points contained in each region is determined. Further, the second coordinates of the multiple trajectory points contained in each region whose absolute value of the difference with the average value is greater than the initial threshold value can be removed from each region to obtain each processed region. The average value of the vertical coordinates of the multiple trajectory points contained in each processed region is re-determined until the average value of the vertical coordinates of the target region remains unchanged, thereby obtaining the cleaned fourth trajectory data set.

[0067] In this embodiment, since the fourth trajectory data set contains the second coordinates of multiple personnel trajectories in the target place before the target time period, which is the data of the historical record of the target place, in order to make the interval range value and threshold obtained by training representative, the data in the fourth trajectory data set can be divided according to the target time period. For example: the target time period is from 8:00 to 20:00 on April 18, 2020, and the fourth trajectory data set contains the second coordinates of multiple personnel trajectories recorded by each camera in the target place from 0:00 to 24:00 on April 14, April 15, April 16, and April 17. According to the target time period, the second coordinate data from 8:00 to 20:00 every day on April 14, April 15, April 16, and April 17 can be selected for training, and the second coordinate data from 8:00 to 20:00 every day on April 14, April 15, April 16, and April 17 can be drawn to obtain four second coordinate systems, and the coordinates of the trajectory points in these four second coordinate systems are cleaned.

[0068] In one embodiment, the average value of the ordinates of the plurality of trajectory points contained in each region and the absolute value of the difference between the ordinates of the plurality of trajectory points contained in each region and the average value may be calculated according to the following formula:

[0069]

[0070] d=||y j -μ i ||2

[0071] Among them, μ i is the average value of the ordinate in the ith region; k is the total number of trajectory points contained in the ith region; y j is the ordinate value of the jth trajectory point in the i-th region; d is y j With μ i The absolute value of the difference.

[0072] In one embodiment, the cleaning error of data cleaning using the initial interval range value and the initial threshold value may be determined according to the fourth trajectory data set after cleaning according to the following formula:

[0073]

[0074] Wherein, E is the cleaning error of data cleaning using the initial interval range value and the initial threshold; T is the number of days of the second coordinates of multiple personnel trajectories in the target place before the target time period contained in the fourth trajectory data set; M is the number of regions divided according to the initial interval range value; C i is the set of final trajectory points after cleaning in each area; y is C i The vertical coordinate of each trajectory point in μ i is the average value of the vertical axis in each area.

[0075] In one embodiment, before performing data cleaning on the second coordinates of the multiple personnel trajectories in the second trajectory data set, the current organization administrator may also set cleaning parameters on the front-end page, and the cleaning parameters may include at least one of the following: organization number, organization name, venue number, venue name, target threshold, target interval range value, etc. In some embodiments, the cleaning parameters of the above-mentioned target venues may also be obtained by querying from a preset database, and the specific parameters may be determined according to actual conditions, and the embodiments of this specification are not limited to this.

[0076] Based on the same inventive concept, a trajectory determination device is also provided in the embodiments of this specification, such as the following embodiments. Since the principle of solving the problem by the trajectory determination device is similar to that of the trajectory determination method, the implementation of the trajectory determination device can refer to the implementation of the trajectory determination method, and the repeated parts will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived. Figure 2 is a structural block diagram of a trajectory determination device according to an embodiment of this specification, such as Figure 2 As shown, it may include: an acquisition module 201, a conversion module 202, a data cleaning module 203, and a determination module 204. The structure is described below.

[0077] The acquisition module 201 may be used to acquire a first trajectory data set of a target location within a target time period; wherein the first trajectory data set includes first coordinates of multiple person trajectories recorded by each camera in the target location within the target time period;

[0078] The conversion module 202 may be used to convert the first coordinates in the first trajectory data set into second coordinates based on the origin of the target location to obtain a second trajectory data set;

[0079] The data cleaning module 203 may be used to clean the second coordinates of the multiple personnel trajectories in the second trajectory data set to obtain a third trajectory data set; wherein the third trajectory data set is used to represent the central coordinates of the multiple personnel moving within the target time period;

[0080] The determination module 204 may be configured to determine a target trajectory of a target location within a target time period according to the third trajectory data set.

[0081] The embodiment of this specification also provides an electronic device, which can be specifically referred to in Figure 3 The electronic device composition structure diagram of the trajectory determination method provided by the embodiment of this specification is shown, and the electronic device may specifically include an input device 31, a processor 32, and a memory 33. Among them, the input device 31 can be specifically used to input a first trajectory data set of the target place within the target time period. The processor 32 can be specifically used to obtain the first trajectory data set of the target place within the target time period; wherein the first trajectory data set contains the first coordinates of multiple personnel trajectories recorded by each camera in the target place within the target time period; based on the origin of the target place, the first coordinate in the first trajectory data set is converted into a second coordinate to obtain a second trajectory data set; the second coordinates of the multiple personnel trajectories in the second trajectory data set are cleaned to obtain a third trajectory data set; wherein the third trajectory data set is used to characterize the center coordinates of multiple personnel moving within the target time period; according to the third trajectory data set, the target trajectory of the target place within the target time period is determined. The memory 33 can be specifically used to store parameters such as the target trajectory of the target place within the target time period.

[0082] In this embodiment, the input device can specifically be one of the main devices for information exchange between the user and the computer system. The input device can include a keyboard, a mouse, a camera, a scanner, a light pen, a handwriting input board, a voice input device, etc.; the input device is used to input the original data and the program for processing these numbers into the computer. The input device can also obtain and receive data transmitted from other modules, units, and devices. The processor can be implemented in any appropriate manner. For example, the processor can take the form of a computer-readable medium, a logic gate, a switch, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable logic controller, and an embedded microcontroller, etc., such as a microprocessor or a processor and a computer-readable program code (such as software or firmware) that can be executed by the (micro) processor. The memory can specifically be a memory device used to store information in modern information technology. The memory can include multiple levels. In a digital system, anything that can store binary data can be a memory; in an integrated circuit, a circuit with a storage function without a physical form is also called a memory, such as a RAM, a FIFO, etc.; in a system, a storage device with a physical form is also called a memory, such as a memory stick, a TF card, etc.

[0083] In this embodiment, the functions and effects specifically realized by the electronic device can be explained in comparison with other embodiments and will not be described in detail here.

[0084] In the implementation manner of the embodiments of the present specification, a computer storage medium based on the trajectory determination method is also provided, and the computer storage medium stores computer program instructions, which can achieve the following when the computer program instructions are executed: obtaining a first trajectory data set of a target place within a target time period; wherein the first trajectory data set contains first coordinates of multiple personnel trajectories recorded by each camera in the target place within the target time period; converting the first coordinates in the first trajectory data set into second coordinates based on the origin of the target place to obtain a second trajectory data set; performing data cleaning on the second coordinates of multiple personnel trajectories in the second trajectory data set to obtain a third trajectory data set; wherein the third trajectory data set is used to characterize the center coordinates of multiple personnel moving within the target time period; and determining the target trajectory of the target place within the target time period according to the third trajectory data set.

[0085] In this embodiment, the storage medium includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a cache, a hard disk (HDD), or a memory card. The memory may be used to store computer program instructions. The network communication unit may be an interface for network connection communication set in accordance with the standard specified by the communication protocol.

[0086] In this embodiment, the functions and effects specifically implemented by the program instructions stored in the computer storage medium can be explained in comparison with other embodiments and will not be repeated here.

[0087] Obviously, those skilled in the art should understand that the modules or steps of the above-mentioned embodiments of this specification can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the embodiments of this specification are not limited to any specific combination of hardware and software.

[0088] Although the embodiments of this specification provide method operation steps as described in the above embodiments or flowcharts, more or fewer operation steps may be included in the method based on routine or no creative labor. In the steps where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided by the embodiments of this specification. When the device or terminal product of the method described in practice is executed, it can be executed in sequence or in parallel according to the method shown in the embodiments or drawings (for example, a parallel processor or a multi-threaded processing environment).

[0089] It should be understood that the above description is for illustration and not for limitation. By reading the above description, many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art. Therefore, the scope of the embodiments of this specification should not be determined with reference to the above description, but should be determined with reference to the full scope of the aforementioned claims and the equivalents possessed by these claims.

[0090] The above is only a preferred embodiment of the embodiment of this specification, and is not intended to limit the embodiment of this specification. For those skilled in the art, the embodiment of this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiment of this specification shall be included in the protection scope of the embodiment of this specification.

Claims

1. A trajectory determination method, characterized in that: include: Acquire a first trajectory data set of a target place within a target time period; wherein the first trajectory data set includes first coordinates of multiple person trajectories recorded by each camera in the target place within the target time period; Converting the first coordinates in the first trajectory data set into second coordinates based on the origin of the target location to obtain a second trajectory data set; Performing data cleaning on the second coordinates of the trajectories of the multiple persons in the second trajectory data set to obtain a third trajectory data set; wherein the third trajectory data set is used to represent the central coordinates of the multiple persons moving within the target time period; determining, according to the third trajectory data set, a target trajectory of the target location within the target time period; Wherein, before performing data cleaning on the second coordinates of the multiple personnel trajectories in the second trajectory data set, it also includes: obtaining a fourth trajectory data set of the target place; wherein the fourth trajectory data set contains the second coordinates of the multiple personnel trajectories in the target place before the target time period; obtaining an initial interval range value and an initial threshold value; performing data cleaning on the second coordinates in the fourth trajectory data set according to the initial interval range value and the initial threshold value to obtain a cleaned fourth trajectory data set; determining a cleaning error for data cleaning using the initial interval range value and the initial threshold value according to the cleaned fourth trajectory data set; randomly adjusting the initial interval range value and the initial threshold value, and using the adjusted interval range value and threshold value to perform data cleaning on the second coordinates in the fourth trajectory data set until the number of times the interval range value and the threshold value are adjusted reaches a preset number, and a cleaning error corresponding to each group of interval range values ​​and threshold values ​​is obtained; and the interval range value and threshold value corresponding to the minimum value of the cleaning error are used as the target interval range value and target threshold value; wherein, performing data cleaning on the second coordinates in the fourth trajectory data set according to the initial interval range value and the initial threshold value to obtain the cleaned fourth trajectory data set comprises: drawing a second coordinate system according to the second coordinates of multiple personnel trajectories in the target place before the target time period in the fourth trajectory data set; dividing the second coordinate system into multiple regions according to the initial interval range value; determining the average value of the vertical coordinates of multiple trajectory points contained in each region; removing the second coordinates of the multiple trajectory points contained in each region whose absolute value of the difference with the average value is greater than the initial threshold value from each region to obtain each processed region; re-determining the average value of the vertical coordinates of the multiple trajectory points contained in each processed region until the average value of the vertical coordinate of the target region remains unchanged to obtain the cleaned fourth trajectory data set; According to the following formula, the cleaning error of data cleaning using the initial interval range value and the initial threshold is determined based on the cleaned fourth trajectory data set: Wherein, E is the cleaning error of data cleaning using the initial interval range value and the initial threshold; T is the number of days of the second coordinates of the multiple personnel trajectories in the target place before the target time period contained in the fourth trajectory data set; M is the number of areas divided according to the initial interval range value; C i is the set of final trajectory points after cleaning in each area; y is C i The vertical coordinate of each trajectory point in μ i is the average value of the ordinate in each region; The second coordinates of the plurality of personnel trajectories in the second trajectory data set are cleaned to obtain a third trajectory data set, including: Get the target interval range value and target threshold; Arranging the plurality of personnel trajectories in a coordinate system of the target location according to the second trajectory data set to obtain a first coordinate system; Dividing the first coordinate system into a plurality of regions according to the target interval range value; According to the target threshold, data cleaning is performed on the second coordinates of the trajectory of the personnel in the multiple areas in turn to obtain the third trajectory data set.

2. The method according to claim 1, characterized in that: The first coordinates in the first trajectory data set are converted into second coordinates based on the origin coordinates of the target location to obtain a second trajectory data set, including: Obtaining a floor plan of the target location; Determining the coordinates of each camera relative to the origin of the target location according to the plan view of the target location; Determine the cameras corresponding to the multiple personnel trajectories; According to the cameras corresponding to the multiple personnel trajectories and the coordinates of each camera relative to the origin of the target place, the first coordinates relative to each camera in the first trajectory data set are converted into second coordinates relative to the origin of the target place to obtain a second trajectory data set.

3. The method according to claim 2, characterized in that According to the following formula, based on the cameras corresponding to the multiple personnel trajectories and the coordinates of each camera relative to the origin of the target place, the first coordinates relative to each camera in the first trajectory data set are converted into second coordinates relative to the origin of the target place: (x i ',and i ')=(x i ,and i )+(x s ,and s ) Among them, (x i ,y i ) is the first coordinate of the trajectory of the person recorded by the camera in the target place relative to the camera; (x s ,y s ) is the coordinate of the camera in the target location relative to the origin of the target location; (x i ',y i ') is a second coordinate relative to the origin of the target location.

4. The method according to claim 1, characterized in that: According to the target threshold, data cleaning is performed on the second coordinates of the trajectory of the personnel in the multiple areas in sequence to obtain the third trajectory data set, including: determining an average value of the longitudinal coordinates of a plurality of trajectory points contained in the target area; Removing second coordinates of the plurality of trajectory points whose absolute value of the difference between the ordinate and the average value is greater than the target threshold from the target area to obtain a processed target area; The processed target area is used as the target area, and the average value of the longitudinal coordinates of the plurality of second coordinates in the target area is re-determined until the average value of the longitudinal coordinate of the target area remains unchanged, thereby obtaining a central trajectory data set of the target area in the target time period; The multiple regions are traversed, and the center trajectory dataset of each region is used as the third trajectory dataset.

5. The method according to claim 1, characterized in that Determining, according to the third trajectory data set, a target trajectory of the target location within the target time period, comprising: Draw a target scatter plot according to the center coordinates of the multiple persons in the third trajectory data set moving within the target time period and the coordinate system of the target location; Connect each trajectory point in the target scatter plot in sequence to obtain the target trajectory of the target location within the target time period.

6. The method according to claim 1, characterized in that Before obtaining the fourth trajectory data set of the target place within the target time period, the method further includes: Acquire a fifth trajectory data set of the target place within the target time period; wherein the fifth trajectory data set includes first coordinates of multiple person trajectories recorded by each camera in the target place before the target time period; The first coordinates in the fifth trajectory data set are converted into second coordinates based on the origin of the target location to obtain a fourth trajectory data set.

7. A trajectory determination device, characterized in that: include: An acquisition module, configured to acquire a first trajectory data set of a target place within a target time period; wherein the first trajectory data set includes first coordinates of multiple person trajectories recorded by each camera in the target place within the target time period; A conversion module, configured to convert a first coordinate in the first trajectory data set into a second coordinate based on an origin of the target location to obtain a second trajectory data set; A data cleaning module, used for performing data cleaning on the second coordinates of the trajectories of the multiple persons in the second trajectory data set to obtain a third trajectory data set; wherein the third trajectory data set is used to represent the central coordinates of the multiple persons moving within the target time period; A determination module, configured to determine a target trajectory of the target location within the target time period according to the third trajectory data set; Wherein, before performing data cleaning on the second coordinates of the multiple personnel trajectories in the second trajectory data set, it also includes: obtaining a fourth trajectory data set of the target place; wherein the fourth trajectory data set contains the second coordinates of the multiple personnel trajectories in the target place before the target time period; obtaining an initial interval range value and an initial threshold value; performing data cleaning on the second coordinates in the fourth trajectory data set according to the initial interval range value and the initial threshold value to obtain a cleaned fourth trajectory data set; determining a cleaning error for data cleaning using the initial interval range value and the initial threshold value according to the cleaned fourth trajectory data set; randomly adjusting the initial interval range value and the initial threshold value, and using the adjusted interval range value and threshold value to perform data cleaning on the second coordinates in the fourth trajectory data set until the number of times the interval range value and the threshold value are adjusted reaches a preset number, and a cleaning error corresponding to each group of interval range values ​​and threshold values ​​is obtained; and the interval range value and threshold value corresponding to the minimum value of the cleaning error are used as the target interval range value and target threshold value; wherein, performing data cleaning on the second coordinates in the fourth trajectory data set according to the initial interval range value and the initial threshold value to obtain the cleaned fourth trajectory data set comprises: drawing a second coordinate system according to the second coordinates of multiple personnel trajectories in the target place before the target time period in the fourth trajectory data set; dividing the second coordinate system into multiple regions according to the initial interval range value; determining the average value of the vertical coordinates of multiple trajectory points contained in each region; removing the second coordinates of the multiple trajectory points contained in each region whose absolute value of the difference with the average value is greater than the initial threshold value from each region to obtain each processed region; re-determining the average value of the vertical coordinates of the multiple trajectory points contained in each processed region until the average value of the vertical coordinate of the target region remains unchanged to obtain the cleaned fourth trajectory data set; According to the following formula, the cleaning error of data cleaning using the initial interval range value and the initial threshold is determined based on the cleaned fourth trajectory data set: Wherein, E is the cleaning error of data cleaning using the initial interval range value and the initial threshold; T is the number of days of the second coordinates of the multiple personnel trajectories in the target place before the target time period contained in the fourth trajectory data set; M is the number of areas divided according to the initial interval range value; C i is the set of final trajectory points after cleaning in each area; y is C i The vertical coordinate of each trajectory point in μ i is the average value of the vertical coordinate in each area; The second coordinates of the plurality of personnel trajectories in the second trajectory data set are cleaned to obtain a third trajectory data set, including: Get the target interval range value and target threshold; Arranging the plurality of personnel trajectories in a coordinate system of the target location according to the second trajectory data set to obtain a first coordinate system; Dividing the first coordinate system into a plurality of regions according to the target interval range value; According to the target threshold, data cleaning is performed on the second coordinates of the trajectory of the personnel in the multiple areas in turn to obtain the third trajectory data set.

8. A trajectory determination device, characterized in that: The method comprises a processor and a memory for storing processor-executable instructions, wherein the processor implements the steps of the method according to any one of claims 1 to 6 when executing the instructions.

9. A computer-readable storage medium, characterized in that: Computer instructions are stored thereon, and when the instructions are executed, the steps of the method according to any one of claims 1 to 6 are implemented.

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