Method and system for determining pedestrian walking trajectory in full-view gait data collection

Abstract

The present invention discloses a method and system for determining a pedestrian's walking trajectory in full-view gait data collection, the method comprising constructing an initial walking route, obtaining the length of the initial walking route and the height of the pedestrian; obtaining the height and field of view of a reference acquisition device, the reference acquisition device being arranged on an extension line on the end side of the initial walking route; determining the distance between the reference acquisition device and the end of the initial walking route according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device and the field of view of the reference acquisition device; determining the midway walking route according to the distance, and determining the full-view walking trajectory of the pedestrian according to the midway walking route and the initial walking route. The present invention can realize full-view acquisition without redundancy with the least acquisition equipment, and occupies little site space. In addition, the present invention can automatically determine the required site size, the location of the acquisition equipment and the corresponding walking path according to parameters such as the acquisition equipment and the pedestrian, and has strong adaptability under different sites.

Description

Technical Field

[0001] The invention discloses a method and a system for determining a pedestrian's walking trajectory in full-view gait data collection, and belongs to the technical field of gait data collection. Background Art

[0002] Gait is a biological and behavioral characteristic of a natural person, reflecting the changing pattern of body shape in time and space. Gait recognition is a method of identifying a person by the way he walks. Compared with other biometric technologies, gait recognition has the advantages of non-contact, long-distance and not easy to disguise.

[0003] Gait data collection is an important part of building a gait recognition system. Existing gait data collection methods generally require pedestrians to walk back and forth in a straight line on a large site, and arrange cameras to be evenly spaced on a semicircle centered on the pedestrian, so as to collect gait data from all angles, such as Figure 7 However, in the process of designing the site and pedestrian route, this method did not fully and deeply consider factors such as site size, camera layout, and pedestrian route, resulting in redundancy in site space, camera utilization, and pedestrian perspective. It is not applicable enough when the site size is limited, and the equipment cost is high. Moreover, this method can only give a corresponding design solution through manual debugging under a certain set of parameters (camera field of view, camera height, pedestrian height, walking length, etc.), and is not adaptable enough under different site conditions. Summary of the invention

[0004] The purpose of this application is to provide a method and system for determining pedestrian walking trajectories in full-view gait data collection, so as to solve the technical problems of large site space occupation and redundant pedestrian perspective caused by unreasonable layout of collection equipment in existing collection methods.

[0005] A first aspect of the present invention provides a method for determining a pedestrian's walking trajectory in full-view gait data collection, comprising:

[0006] Step 1: construct an initial walking route, and obtain the length of the initial walking route and the height of the pedestrian;

[0007] Step 2: obtaining the height and field of view angle of a reference acquisition device, wherein the reference acquisition device is arranged on an extension line of the end point side of the initial walking route;

[0008] Step 3: Determine the distance between the reference acquisition device and the end point of the initial walking route according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device, and the field of view of the reference acquisition device;

[0009] Step 4: determine an intermediate walking route according to the distance, and determine a full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route.

[0010] Preferably, determining the intermediate walking route according to the distance, and determining the full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route, specifically includes:

[0011] Step 41: With the center point of the initial walking route as the center of the circle, the initial walking route is rotated in a first direction by a first angle to obtain a midway walking route; the first direction may be a clockwise direction or a counterclockwise direction;

[0012] The first angle is determined according to a preset viewing angle and the distance;

[0013] The preset viewing angle is the viewing angle at the first end point of the midway walking route, and the distance between the first end point and the starting point of the initial walking route is less than the distance between the first end point and the end point of the initial walking route;

[0014] Step 42: determining whether the viewing angle of at least one endpoint of the intermediate walking route is greater than a preset threshold value; if so, the trajectory formed by the initial walking route and the intermediate walking route is the full-view walking trajectory of the pedestrian;

[0015] If not, the maximum viewing angle of the current midway walking route is used as the preset viewing angle, and steps 41 and 42 are repeated to construct the next midway walking route until the viewing angle of at least one endpoint of the constructed midway walking route is greater than the preset threshold.

[0016] Preferably, the trajectory formed by the initial walking route and the intermediate walking route is the full-view walking trajectory of the pedestrian, which specifically includes:

[0017] Recording the initial walking route as the current route;

[0018] Determine whether there is an adjacent intermediate walking route when the current route is rotated according to the first direction; if so, determine the starting point and the end point of the intermediate walking route, record the intermediate walking route as the current route, and repeat this step; if not, a trajectory composed of the initial walking route, the current route, and all the intermediate walking routes passed when the initial walking route is rotated according to the first direction to the current route is the full-view walking trajectory of the pedestrian.

[0019] Preferably, the determining of the starting point and the end point of the midway walking route specifically includes:

[0020] Recording an endpoint of the midway walking route as a starting point, wherein the distance between the starting point of the midway walking route and the end point of the adjacent route passed by the midway walking route when the midway walking route rotates in the second direction is less than the distance between the starting point of the adjacent route passed by the midway walking route when the midway walking route rotates in the second direction;

[0021] The second direction is opposite to the first direction.

[0022] Preferably, after determining the intermediate walking route according to the distance, and determining the full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route, the method further includes:

[0023] Step 5: Obtain the number of the midway walking routes, and determine the number of collection devices that can be added according to the number of the midway walking routes;

[0024] Step 6: Obtain the number of acquisition devices to be added, where the number of acquisition devices to be added is less than or equal to the number of acquisition devices that can be added;

[0025] Step 7: Determine the location of the collection device to be added and the full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route.

[0026] Preferably, determining the location of the collection device to be added according to the midway walking route and the initial walking route specifically includes:

[0027] Step 71, obtaining the intermediate walking route having the largest included angle with the initial walking route;

[0028] Step 72: The midway walking route and the reference position form a triangle, and the midway walking route is rotated by a second angle in a second direction with the center point of the midway walking route as the rotation center. The rotated reference position is the position of the first acquisition device to be added; the second angle is the angle between the midway walking route and its adjacent route with the largest angle with the initial walking route; the reference position is the position of the reference acquisition device;

[0029] At this time, the full-view walking trajectory of the pedestrian is a trajectory consisting of the remaining intermediate walking routes and the initial walking route after deleting the intermediate walking route with the largest angle with the initial walking route;

[0030] Step 73, determine whether there are acquisition devices to be added. If so, record the position of the first acquisition device as the reference position and repeat steps 71 to 73. If not, obtain the full-view walking trajectory of the pedestrian according to step 72.

[0031] Preferably, determining the distance between the reference acquisition device and the end point of the initial walking route according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device, and the field of view of the reference acquisition device specifically includes:

[0032] Step 31, determining the depression angle of the reference acquisition device according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device, and the field of view of the reference acquisition device;

[0033] Step 32: Determine the distance between the reference acquisition device and the end point of the initial walking route according to the depression angle.

[0034] Preferably, the depression angle of the reference acquisition device is determined according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device, and the field of view of the reference acquisition device, specifically including:

[0035] The depression angle of the reference acquisition device is determined according to a first formula, wherein the first formula is:

[0036]

[0037] In the formula, θ c is the depression angle of the reference acquisition device, H is the height of the reference acquisition device, h is the height of the pedestrian, L is the length of the initial walking route, θ v is the field of view of the reference acquisition device.

[0038] Preferably, determining the distance between the reference acquisition device and the end point of the initial walking route according to the depression angle specifically includes:

[0039] The distance between the reference acquisition device and the end point of the initial walking route is determined according to a second formula, wherein the second formula is:

[0040]

[0041] Where d is the distance between the reference acquisition device and the end point of the initial walking route, θ c is the depression angle of the reference acquisition device, H is the height of the reference acquisition device, L is the length of the initial walking route, θ v is the field of view of the reference acquisition device.

[0042] A second aspect of the present invention provides a pedestrian walking trajectory determination system in full-view gait data collection, comprising:

[0043] A first parameter acquisition module, the first parameter acquisition module is used to construct an initial walking route and determine the length of the initial walking route and the height of the pedestrian;

[0044] A second parameter acquisition module, the second parameter acquisition module is used to acquire the height and field of view angle of a reference acquisition device, the reference acquisition device is set on the extension line of the end side of the initial walking route;

[0045] A distance determination module, the distance determination module is used to determine the distance between the reference acquisition device and the end point of the initial walking route according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device and the field of view of the reference acquisition device;

[0046] A trajectory determination module is used to determine an intermediate walking route according to the distance, and to determine a full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route.

[0047] Compared with the prior art, the method and system for determining pedestrian walking trajectory in full-view gait data collection of the present invention has the following beneficial effects:

[0048] The present invention can realize full-view acquisition without redundancy with minimal acquisition equipment, and occupies little site space. Furthermore, the method and system of the present invention can automatically determine the required site size, acquisition equipment location and corresponding walking path according to acquisition equipment, pedestrians and other parameters, and has stronger adaptability under different site conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 Schematic diagram of the flow of a method for determining a pedestrian's walking trajectory in full-view gait data collection in an embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of the position and posture of the acquisition device when a pedestrian walks a distance L in the camera field of view with his whole body displayed in the front view in an embodiment of the present invention;

[0051] Figure 3 A top view of a site when a full-view walking trajectory of a pedestrian is determined using a reference acquisition device in an embodiment of the present invention;

[0052] Figure 4 It is a top view of the site when a full-view walking trajectory of a pedestrian is determined using a reference acquisition device and a to-be-added acquisition device in an embodiment of the present invention;

[0053] Figure 5 It is a top view of the site when the full-view walking trajectory of a pedestrian is determined by using a reference acquisition device and two acquisition devices to be added in an embodiment of the present invention;

[0054] Figure 6 Schematic diagram of the structure of a pedestrian walking trajectory determination system in full-view gait data collection in an embodiment of the present invention;

[0055] Figure 7 It is a schematic diagram of a gait data collection method in the prior art.

[0056] In the figure, 101 is a first parameter acquisition module; 102 is a second parameter acquisition module; 103 is a distance determination module; and 104 is a trajectory determination module. DETAILED DESCRIPTION

[0057] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0058] The first aspect of the present invention provides a method for determining a pedestrian's walking trajectory in full-view gait data collection, the process of which is as follows: Figure 1 As shown, including:

[0059] Step 1: Construct an initial walking route and obtain the length L of the initial walking route and the height h of the pedestrian.

[0060] The length L of the initial walking route in the embodiment of the present invention is the length that needs to be walked at least to walk a normal gait.

[0061] Step 2: Obtain the height H and field of view angle θ of the reference acquisition device v ,The benchmark acquisition device is set on the extension line of the end side of the initial walking route.

[0062] Step 3: Based on the length L of the initial walking route, the height h of the pedestrian, the height H of the reference acquisition device, and the field of view θ of the reference acquisition device v , determine the distance d between the reference acquisition device and the end point of the initial walking route, specifically including:

[0063] Step 31: according to the length L of the initial walking route, the height h of the pedestrian, the height H of the reference acquisition device and the field of view θ of the reference acquisition device v , use formula (1) to determine the pitch angle θ of the reference acquisition device c :

[0064]

[0065] Step 32: According to the pitch angle θ c Determine the distance d between the reference acquisition device and the end point of the initial walking route, specifically including:

[0066] According to formula (2), the distance d between the reference acquisition device and the end point of the initial walking route is determined:

[0067]

[0068] According to formula (2), the position and posture of the reference acquisition device can be determined when the pedestrian's whole body is displayed in the reference acquisition device and the walking distance L is determined from the frontal perspective, as follows: Figure 2 shown.

[0069] Step 4: Determine the intermediate walking route according to the distance, and determine the full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route.

[0070] In the embodiment of the present invention, the process of determining the full-view walking trajectory of a pedestrian is described by taking the reference acquisition device as an example, and the schematic diagram thereof is shown as follows: Figure 3 As shown, Figure 3 The initial walking route in is AB, with A as the starting point and B as the end point, then step 4 specifically includes:

[0071] Step 41, with the center point P of the initial walking route AB as the center of the circle, the initial walking route AB is rotated in a first direction by a first angle to obtain an intermediate walking route CD. The first direction in the present invention can be a clockwise direction or a counterclockwise direction. For the convenience of explanation, the first direction in the subsequent embodiments refers to the counterclockwise direction.

[0072] The first angle in the embodiment of the present invention is determined according to the preset viewing angle and the distance d. The preset viewing angle is the viewing angle at the first end point of the midway walking route, and the distance between the first end point and the starting point of the initial walking route is less than the distance between the first end point and the end point of the initial walking route; that is, the preset viewing angle in the embodiment of the present invention is the viewing angle at point D. The initial preset viewing angle is a viewing angle less than 20°. In the embodiment of the present invention, the initial preset viewing angle (i.e., the viewing angle at point D) is

[0073] According to the initial preset viewing angle, the first angle θ can be determined using formula (3):

[0074]

[0075] After determining the first angle, the viewing angle of point C can be determined using formula (4):

[0076]

[0077] Step 42: determine whether the viewing angle of at least one endpoint of the mid-walking route is greater than a preset threshold. If so, the trajectory composed of the initial walking route and the mid-walking route is the full-view walking trajectory of the pedestrian.

[0078] If not, the maximum viewing angle of the current midway walking route is used as the preset viewing angle, and steps 41 and 42 are repeated to construct the next midway walking route until the viewing angle of at least one endpoint of the constructed midway walking route is greater than the preset threshold.

[0079] Among them, the trajectory composed of the initial walking route and the intermediate walking route is the pedestrian's full-view walking trajectory, which specifically includes:

[0080] Record the initial walking route as the current route;

[0081] Determine whether there is an adjacent intermediate walking route when the current route is rotated in the first direction. If so, determine the starting point and end point of the intermediate walking route, and then record the intermediate walking route as the current route. Repeat this step. If not, the trajectory composed of the initial walking route, the current route, and all the intermediate walking routes passed when the initial walking route is rotated in the first direction to the current route is the full-view walking trajectory of the pedestrian.

[0082] Preferably, determining the starting point and the end point of the walking route includes:

[0083] An endpoint of the midway walking route is recorded as the starting point, and the distance between the starting point of the midway walking route and the end point of the adjacent route passed by the midway walking route when rotating in the second direction is less than the distance between the starting point of the adjacent route passed by the midway walking route when rotating in the second direction, wherein the second direction is opposite to the first direction.

[0084] In the embodiment of the present invention, the viewing angle of point C is and the viewing angle at point D None of them exceeds the preset threshold of 90°, so the viewing angle of point C is As the preset viewing angle, substitute it into formula (3) to determine the rotation angle of the next intermediate walking route, and obtain the intermediate walking route EF. When the intermediate walking route CD rotates clockwise, the adjacent route passed is the initial walking route AB. In the initial walking route AB, B is the end point, while in the intermediate walking route CD, C is closer to B. Therefore, C is the starting point and D is the end point. Similarly, in the intermediate walking route EF, E is closer to the end point D, so E is the starting point and F is the end point. After obtaining the intermediate walking route EF, the viewing angle at E is Equal to the viewing angle at C Correspondingly, the viewing angle at F can be determined according to formula (4): Since the viewing angle at F is greater than the preset threshold of 90°, there is no need to construct the next midway walking trajectory. The pedestrian's full-view walking trajectory is A→B→C→D→E→F.

[0085] Furthermore, the present invention can simplify the walking trajectory of pedestrians by adding collection equipment, specifically:

[0086] After determining the intermediate walking route according to the distance in step 4, and determining the full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route, the method further includes:

[0087] Step 5: Obtain the number of midway walking routes, and determine the number of collection devices that can be added according to the number of midway walking routes.

[0088] In the embodiment of the present invention, the number of midway walking routes is 2, so the number of collection devices that can be added is 2.

[0089] Step 6: Obtain the number of acquisition devices to be added, where the number of acquisition devices to be added is less than or equal to the number of acquisition devices that can be added.

[0090] Step 7: Determine the location of the collection device to be added and the full-view walking trajectory of the pedestrian based on the mid-walking route and the initial walking route, including:

[0091] Step 71, obtaining the intermediate walking route with the largest angle with the initial walking route;

[0092] Step 72: The midway walking route and the reference position form a triangle, and the midway walking route is rotated by a second angle in a second direction with the center point of the midway walking route as the rotation center. The rotated reference position is the position of the first acquisition device to be added; the second angle is the angle between the midway walking route with the largest angle with the initial walking route and its adjacent midway walking route, and the reference position is the position of the reference acquisition device;

[0093] At this time, the pedestrian's full-view walking trajectory is a trajectory consisting of the remaining intermediate walking routes and the initial walking route after deleting the intermediate walking route with the largest angle with the initial walking route;

[0094] Step 73, determine whether there are acquisition devices to be added. If so, record the position of the first acquisition device as the reference position and repeat steps 71 to 73. If not, obtain the full-view walking trajectory of the pedestrian according to step 72.

[0095] In the embodiment of the present invention, when the number of acquisition devices to be added is 1, the process of determining the full-view walking trajectory of the pedestrian is as follows: Figure 4 As shown, first obtain the mid-way walking route EF with the largest angle with the initial walking route AB, then form a triangle with the mid-way walking route EF and the reference position O where the reference acquisition device is located, and rotate clockwise by a second angle with the center point P of the mid-way walking route EF as the rotation center. The rotated reference position O1 is the position of the first acquisition device to be added; wherein the second angle is the angle between the mid-way walking route EF and its adjacent mid-way walking route CD.

[0096] At this time, the mid-way walking route EF relative to O is equivalent to the mid-way walking route CD relative to O1, so the pedestrian path can be simplified, and the pedestrian's full-view walking trajectory is the trajectory composed of the remaining mid-way walking routes after deleting the mid-way walking route EF and the initial walking route, that is, the pedestrian's full-view walking trajectory is A→B→C→D. Among them, the depression angle of the acquisition device at O1 is the same as the depression angle of the acquisition device at O, and the deflection angle is equal to the rotation angle.

[0097] In the embodiment of the present invention, when the number of acquisition devices to be added is 2, the process of determining the full-view walking trajectory of the pedestrian is as follows: Figure 5 As shown, the position of the first acquisition device is O1, and the midway walking route CD with the largest angle with the initial walking route AB is obtained (because the midway walking route EF has been deleted), and then the midway walking route CD and the position O1 of the first acquisition device form a triangle, and the center point P of the midway walking route CD is used as the rotation center. The second angle is rotated clockwise, and the reference position O2 after rotation is the position of the second acquisition device to be added; wherein the second angle is the angle between the midway walking route CD and the adjacent initial walking route AB.

[0098] At this time, the intermediate walking route CD relative to O is equivalent to the initial walking route AB relative to O1, and the intermediate walking route EF relative to O is equivalent to the initial walking route AB relative to O2. The pedestrian's full-view walking trajectory is the trajectory composed of the remaining intermediate walking routes and the initial walking route after deleting the intermediate walking route CD, that is, the pedestrian's full-view walking trajectory is A→B. Among them, the pitch angles of the acquisition devices at O1 and O2 are the same as the pitch angle of the acquisition device at O, and the deflection angles are equal to the rotation angles.

[0099] For any given scene parameters, the present invention can automatically design the positions of each acquisition device and the corresponding pedestrian walking trajectory when the field is the smallest under full-view acquisition conditions. Compared with traditional gait data acquisition solutions, this solution significantly reduces the requirements for the required field size and number of cameras, and greatly improves the adaptability to different scene parameters.

[0100] A second aspect of the present invention provides a pedestrian walking trajectory determination system in full-view gait data collection, such as Figure 6 As shown, it includes a first parameter acquisition module 101 , a second parameter acquisition module 102 , a distance determination module 103 and a trajectory determination module 104 .

[0101] The first parameter acquisition module 101 is used to construct an initial walking route and determine the length of the initial walking route and the height of the pedestrian;

[0102] The second parameter acquisition module 102 is used to acquire the height and field of view of a reference acquisition device, where the reference acquisition device is set on the extension line of the end point side of the initial walking route;

[0103] The distance determination module 103 is used to determine the distance between the reference acquisition device and the end point of the initial walking route according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device, and the field of view of the reference acquisition device;

[0104] The trajectory determination module 104 is used to determine the intermediate walking route according to the distance, and determine the full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route.

[0105] The present invention can realize full-view acquisition without redundancy with minimal acquisition equipment, and occupies little site space. Furthermore, the method and system of the present invention can automatically determine the required site size, acquisition equipment location and corresponding walking path according to acquisition equipment, pedestrians and other parameters, and has stronger adaptability under different site conditions.

[0106] The above are only a few embodiments of the present application and do not constitute any form of limitation to the present application. Although the present application is disclosed as above with preferred embodiments, it is not intended to limit the present application. Any technician familiar with the profession, without departing from the scope of the technical solution of the present application, using the technical content disclosed above to make slight changes or modifications are equivalent to equivalent implementation cases and fall within the scope of the technical solution.

Claims

1. A method for determining pedestrian walking trajectory in full-view gait data collection, characterized in that: include: Step 1: construct an initial walking route, and obtain the length of the initial walking route and the height of the pedestrian; Step 2: obtaining the height and field of view angle of a reference acquisition device, wherein the reference acquisition device is arranged on an extension line of the end point side of the initial walking route; Step 3: Determine the distance between the reference acquisition device and the end point of the initial walking route according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device, and the field of view of the reference acquisition device; Step 4: determining an intermediate walking route according to the distance, and determining a full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route, specifically comprising: Step 41: With the center point of the initial walking route as the center of the circle, the initial walking route is rotated in a first direction by a first angle to obtain an intermediate walking route; The first angle is determined according to a preset viewing angle and the distance; Step 42: determining whether the viewing angle of at least one endpoint of the intermediate walking route is greater than a preset threshold value; if so, the trajectory formed by the initial walking route and the intermediate walking route is the full-view walking trajectory of the pedestrian; If not, the maximum viewing angle of the current midway walking route is used as the preset viewing angle, and steps 41 and 42 are repeated to construct the next midway walking route until the viewing angle of at least one endpoint of the constructed midway walking route is greater than the preset threshold; The trajectory formed by the initial walking route and the intermediate walking route is the full-view walking trajectory of the pedestrian, which specifically includes: Recording the initial walking route as the current route; Determine whether there is an adjacent intermediate walking route when the current route rotates in the first direction, and if so, determine the starting point and the end point of the intermediate walking route, record the intermediate walking route as the current route, and repeat this step; Determining the starting point and the end point of the midway walking route specifically includes: Recording an endpoint of the midway walking route as a starting point, wherein the distance between the starting point of the midway walking route and the end point of the adjacent route passed by the midway walking route when the midway walking route rotates in the second direction is less than the distance between the starting point of the adjacent route passed by the midway walking route when the midway walking route rotates in the second direction; The second direction is opposite to the first direction.

2. The method for determining pedestrian walking trajectory in full-view gait data collection according to claim 1, characterized in that: Determine whether there is an adjacent intermediate walking route when the current route is rotated according to the first direction. If not, a trajectory consisting of the initial walking route, the current route, and all intermediate walking routes passed when the initial walking route is rotated according to the first direction to the current route is the full-view walking trajectory of the pedestrian.

3. The method for determining pedestrian walking trajectory in full-view gait data collection according to claim 1 or 2, characterized in that: After determining the intermediate walking route according to the distance, and determining the full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route, the method further includes: Step 5: Obtain the number of the midway walking routes, and determine the number of collection devices that can be added according to the number of the midway walking routes; Step 6: Obtain the number of acquisition devices to be added, where the number of acquisition devices to be added is less than or equal to the number of acquisition devices that can be added; Step 7: Determine the location of the collection device to be added and the full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route.

4. The method for determining pedestrian walking trajectory in full-view gait data collection according to claim 3, characterized in that: Determining the location of the collection device to be added according to the intermediate walking route and the initial walking route specifically includes: Step 71, obtaining the intermediate walking route having the largest included angle with the initial walking route; Step 72: The midway walking route and the reference position form a triangle, and the midway walking route is rotated by a second angle in a second direction with the center point of the midway walking route as the rotation center. The rotated reference position is the position of the first acquisition device to be added; the second angle is the angle between the midway walking route and its adjacent route with the largest angle with the initial walking route; the reference position is the position of the reference acquisition device; At this time, the full-view walking trajectory of the pedestrian is a trajectory consisting of the remaining intermediate walking routes and the initial walking route after deleting the intermediate walking route with the largest angle with the initial walking route; Step 73, determine whether there are acquisition devices to be added. If so, record the position of the first acquisition device as the reference position and repeat steps 71 to 73. If not, obtain the full-view walking trajectory of the pedestrian according to step 72.

5. The method for determining pedestrian walking trajectory in full-view gait data collection according to claim 1, characterized in that: Determining the distance between the reference acquisition device and the end point of the initial walking route according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device, and the field of view of the reference acquisition device specifically includes: Step 31, determining the depression angle of the reference acquisition device according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device, and the field of view of the reference acquisition device; Step 32: Determine the distance between the reference acquisition device and the end point of the initial walking route according to the depression angle.

6. The method for determining pedestrian walking trajectory in full-view gait data collection according to claim 5, characterized in that: Determining the depression angle of the reference acquisition device according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device, and the field of view of the reference acquisition device specifically includes: The depression angle of the reference acquisition device is determined according to a first formula, wherein the first formula is: In the formula, is the depression angle of the reference acquisition device, is the height of the reference acquisition device, is the height of the pedestrian, is the length of the initial walking route, is the field of view of the reference acquisition device.

7. The method for determining pedestrian walking trajectory in full-view gait data collection according to claim 5, characterized in that: Determining the distance between the reference acquisition device and the end point of the initial walking route according to the depression angle specifically includes: The distance between the reference acquisition device and the end point of the initial walking route is determined according to a second formula, wherein the second formula is: In the formula, is the distance between the reference acquisition device and the end point of the initial walking route, is the depression angle of the reference acquisition device, is the height of the reference acquisition device, is the length of the initial walking route, is the field of view of the reference acquisition device.

8. A pedestrian walking trajectory determination system in full-view gait data collection based on the pedestrian walking trajectory determination method in full-view gait data collection according to any one of claims 1 to 7, characterized in that: include: A first parameter acquisition module, the first parameter acquisition module is used to construct an initial walking route and determine the length of the initial walking route and the height of the pedestrian; A second parameter acquisition module, the second parameter acquisition module is used to acquire the height and field of view angle of a reference acquisition device, the reference acquisition device is set on the extension line of the end side of the initial walking route; A distance determination module, the distance determination module is used to determine the distance between the reference acquisition device and the end point of the initial walking route according to the length of the initial walking route, the height of the pedestrian, the height of the reference acquisition device and the field of view of the reference acquisition device; A trajectory determination module is used to determine an intermediate walking route according to the distance, and to determine the full-view walking trajectory of the pedestrian according to the intermediate walking route and the initial walking route.

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