Pedestrian tracking method and device, computer equipment and storage medium

Abstract

The embodiment of the invention discloses a pedestrian tracking method and device, computer equipment and a storage medium. The method comprises the steps that if it is determined that a following navigation relation is established between an indoor navigation robot and a target pedestrian, a detection collection image is obtained through an indoor environment camera when a tracking time point is reached; identifying at least one detection target and identifying a tracking prediction target for the target pedestrian; calculating a first fusion comparison feature corresponding to each detection target and a second fusion comparison feature corresponding to the tracking prediction target according to a pedestrian image acquired by the indoor navigation robot for the target pedestrian and a set following navigation route; and according to the similarity between each first fusion comparison feature and the second fusion comparison feature, target pedestrian identification is carried out in the detection target so as to track the target pedestrian. The problem that an indoor navigation robot does not have an active real-time following function is solved, the function of real-time following of customers is achieved, and the intelligent level of the robot is improved.

Description

technical field

[0001] Embodiments of the present invention relate to technologies in the field of computer vision, and in particular to a pedestrian tracking method, device, computer equipment, and storage medium. Background technique

[0002] At present, in the lobby of bank outlets, the lobby manager often undertakes very heavy work tasks. In addition to providing relevant business consultation, he also needs to guide customers to the designated location to handle related businesses. Relatively speaking, the workload is relatively heavy.

[0003] However, the bank lobby service room robots currently used in banks to provide guidance services to customers often do not have real-time guidance services, and it is difficult to adjust the tracking direction and objects in real time. Especially when there are many customers in the outlet hall, indoor robots may make misjudgments, resulting in poor customer experience. Contents of the invention

[0004] The embodiment of the...

Examples

Embodiment 1

[0026] figure 1 It is a flowchart of a pedestrian tracking method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation that the indoor navigation robot actively follows in real time. The method of this embodiment can be executed by a pedestrian tracking device, which can be implemented by means of software and / or hardware, and which can be configured in a server.

[0027] Correspondingly, the method specifically includes the following steps:

[0028] S110. If it is determined that the indoor navigation robot has established a follow-up navigation relationship with the target pedestrian, acquire a detection and collection image through the indoor environment camera every time the tracking time point is reached.

[0029] Among them, the following navigation relationship can be that the indoor navigation robot collects the initial image of the target pedestrian, and establishes a task relationship with the target pedestrian, so as to...

Embodiment 2

[0056] Figure 2a It is a flow chart of another indoor robot navigation control method provided by Embodiment 2 of the present invention. This embodiment is refined on the basis of the above-mentioned embodiments, and calculates the first fusion and comparison features corresponding to each detection target and the first fusion comparison feature and Track the second fusion and comparison features corresponding to the predicted target for further refinement, refer to Figure 2a , the method specifically includes the following steps:

[0057] S210. If it is determined that the indoor navigation robot has established a following navigation relationship with the target pedestrian, acquire a detection and collection image through the indoor environment camera every time the tracking time point is reached.

[0058] S220. Identify at least one detection target in the detection and collection image, and identify a tracking prediction target for the target pedestrian in the detectio...

Embodiment 3

[0079] image 3 It is a flow chart of another indoor robot navigation control method provided by Embodiment 3 of the present invention. This embodiment is refined on the basis of the above-mentioned embodiments, and further refines the identification of the target pedestrian in the detection target according to the similarity between the first fusion comparison features and the second fusion comparison features. image 3 , the method specifically includes the following steps:

[0080] S310. If it is determined that the indoor navigation robot has established a follow-up navigation relationship with the target pedestrian, acquire a detection and collection image through the indoor environment camera every time the tracking time point is reached.

[0081] S320. Identify at least one detection target in the detection and collection image, and identify a tracking prediction target for the target pedestrian in the detection and collection image.

[0082] S330. Calculate the first...

technical field

[0001] Embodiments of the present invention relate to technologies in the field of computer vision, and in particular to a pedestrian tracking method, device, computer equipment, and storage medium. Background technique

[0002] At present, in the lobby of bank outlets, the lobby manager often undertakes very heavy work tasks. In addition to providing relevant business consultation, he also needs to guide customers to the designated location to handle related businesses. Relatively speaking, the workload is relatively heavy.

[0003] However, the bank lobby service room robots currently used in banks to provide guidance services to customers often do not have real-time guidance services, and it is difficult to adjust the tracking direction and objects in real time. Especially when there are many customers in the outlet hall, indoor robots may make misjudgments, resulting in poor customer experience. Contents of the invention

[0004] The embodiment of the...

Examples

Embodiment 1

[0026] figure 1 It is a flowchart of a pedestrian tracking method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation that the indoor navigation robot actively follows in real time. The method of this embodiment can be executed by a pedestrian tracking device, which can be implemented by means of software and / or hardware, and which can be configured in a server.

[0027] Correspondingly, the method specifically includes the following steps:

[0028] S110. If it is determined that the indoor navigation robot has established a follow-up navigation relationship with the target pedestrian, acquire a detection and collection image through the indoor environment camera every time the tracking time point is reached.

[0029] Among them, the following navigation relationship can be that the indoor navigation robot collects the initial image of the target pedestrian, and establishes a task relationship with the target pedestrian, so as to...

Embodiment 2

[0056] Figure 2a It is a flow chart of another indoor robot navigation control method provided by Embodiment 2 of the present invention. This embodiment is refined on the basis of the above-mentioned embodiments, and calculates the first fusion and comparison features corresponding to each detection target and the first fusion comparison feature and Track the second fusion and comparison features corresponding to the predicted target for further refinement, refer to Figure 2a , the method specifically includes the following steps:

[0057] S210. If it is determined that the indoor navigation robot has established a following navigation relationship with the target pedestrian, acquire a detection and collection image through the indoor environment camera every time the tracking time point is reached.

[0058] S220. Identify at least one detection target in the detection and collection image, and identify a tracking prediction target for the target pedestrian in the detectio...

Embodiment 3

[0079] image 3 It is a flow chart of another indoor robot navigation control method provided by Embodiment 3 of the present invention. This embodiment is refined on the basis of the above-mentioned embodiments, and further refines the identification of the target pedestrian in the detection target according to the similarity between the first fusion comparison features and the second fusion comparison features. image 3 , the method specifically includes the following steps:

[0080] S310. If it is determined that the indoor navigation robot has established a follow-up navigation relationship with the target pedestrian, acquire a detection and collection image through the indoor environment camera every time the tracking time point is reached.

[0081] S320. Identify at least one detection target in the detection and collection image, and identify a tracking prediction target for the target pedestrian in the detection and collection image.

[0082] S330. Calculate the first...

Images