378 results about "Pedestrian detection" patented technology

The invention discloses an SCCA-YOLO-based unmanned aerial vehicle tiny target detection method, which mainly carries out innovative design around neck feature processing and backbone network optimization, improves vehicle and pedestrian detection in a complex road environment under an unmanned aerial vehicle view angle through a multi-module cooperation mechanism, designs a parallel heterogeneous convolution MCAD module, and improves the detection accuracy of a small target on the premise of ensuring the real-time performance. Local details and global semantic comprehension are considered; the method comprises the following steps: designing a space and channel attention module SCCA introducing a PSAS intelligent dimension adaptation mechanism, and combining a bottleneck structure BottleNeck of a YOLOv11 backbone network C3k2 module with the SCCA space and channel attention module to form an SCCA-BottleNeck; the MSFI and SCC modules are introduced into the NECK part, the modeling capacity of the model for scale change and hierarchy association is remarkably enhanced on the premise of keeping reasonable calculation overhead, and the method is particularly suitable for the traffic road environment of fine multi-scale processing.

The invention provides a low-visibility environment pedestrian detection method based on an improved YOLOv8n model. A double-branch fusion attention network is adopted in a backbone network of an original YOLOv8n model, and a CBFuse module and a CBLinear module are introduced for feature fusion between different branches; a feature aggregation and calibration pyramid network is introduced, multi-scale feature fusion is carried out through an up-sampling module, a down-sampling module and a feature aggregation and calibration module, and the feature aggregation and calibration module carries out feature calibration and enhancement through a local attention mechanism, a global attention mechanism and a pixel attention mechanism; an adaptive task alignment detection head is introduced to execute a dynamic convolution mechanism, a task decomposition mechanism and a dynamic feature alignment mechanism; an improved YOLOv8n model is formed based on the improvement and serves as a foggy day pedestrian detection network model; according to the method, the detection accuracy and stability of the network in processing shielded and background complex images can be enhanced, and the boundary and detail features of a fuzzy target can be extracted more accurately in low-visibility environments such as foggy days and the like.

The invention relates to the technical field of artificial intelligence computer vision, in particular to an event camera pedestrian detection method based on a space-time state space model, and the method comprises the steps: collecting a pedestrian detection data set based on an event camera, obtaining original event data, carrying out the preprocessing, determining an event tensor, and obtaining an event frame sequence; modeling is carried out through combination of a state space and an event tensor, an event-driven recursive space-time state space module is defined as a core unit, and an isomorphic deep neural network architecture is constructed; training the isomorphic deep neural network architecture by adopting the training set, and verifying through the verification set; inputting the test set into the verified isomorphic deep neural network architecture for detection, and generating a pedestrian detection result; the collaborative optimization of sparse adaptation-dynamic capture-noise suppression is realized in a unified framework, the essential characteristics of the event camera triggered based on brightness change are theoretically fit, and higher robustness and generalization ability are shown in an actual complex scene.

The invention relates to a dense pedestrian detection method for a traffic scene, and belongs to the technical field of machine vision, and the method comprises the following steps: S1, collecting pedestrian images of the traffic scene, and constructing a training and testing data set; s2, constructing a pedestrian detection network, fusing high and low frequency attention and a bidirectional feature fusion module, and introducing a target frame matching strategy; s3, preprocessing the image, and inputting the preprocessed image into a detection network training model; and S4, deploying the trained model to a traffic monitoring system to realize pedestrian detection. The method improves the detection precision and the calculation efficiency, still has the precise detection capability in a complex background and a dense shielding environment, and can be applied to an intelligent traffic monitoring and automatic driving system.

The invention discloses a multistage voxel adaptive laser radar pedestrian tracking method, which comprises the following steps: S1, acquiring laser radar point cloud data, and adding ground filtering and elevation filtering; s2, performing hierarchical voxel grid processing on the basis of the point cloud data after ground filtering and elevation filtering, inputting the point cloud data after hierarchical voxel grid processing into a DV-Det model to detect a point cloud pedestrian target of a current frame, and adding a Soft-NMS for post-processing optimization; s3, designing an unscented Kalman filter based on a pedestrian kinematics equation, predicting the motion state of a pedestrian target, and adding a joint probability data interconnection algorithm and an adaptive life cycle management strategy; and S4, the mass center of the pedestrian target is calculated and detected, the relative position and the movement speed of the pedestrian target are solved, and a display panel of pedestrian state information is added to a visual interface. In conclusion, the defects in the prior art are overcome, high-precision and low-delay pedestrian detection and tracking can be achieved in multiple indoor and outdoor scenes, and the method has high social use value.

The invention provides a time-space correlation multi-camera personnel tracking method and system, and the method comprises the steps: obtaining video streams of all cameras in a scene, carrying out the frame-by-frame detection of the video streams through a detection module based on a deep learning model, and obtaining pedestrian detection samples under different cameras at the current moment and corresponding appearance features. Associating the detection sample with a historical tracking trajectory to obtain a trajectory in each single camera; and carrying out inter-camera association on the trajectory in the single camera by combining a pedestrian re-identification ReID technology and homography-based spatial constraint to obtain a complete tracking trajectory of the current frame. According to the method, in the aspect of position representation of the trajectory, 2D Kalman prediction is used in an image plane, meanwhile, the 3D space position of the trajectory is predicted and tracked, and the trajectory position can be accurately drawn and output.

The invention discloses a multi-pedestrian target detection method based on a YOLOCDG network in a complex scene, and aims to solve the problems of small target missing detection, model redundancy and inaccurate positioning in multi-pedestrian detection in a scene with dense people flow and serious shielding. The method comprises the following steps: firstly, based on YOLOv8, deleting a redundant convolution fusion layer of a backbone network, adjusting the size of a detection head, and simplifying a framework to reduce small target feature dilution; secondly, designing a context attention module CoAM and embedding the CoAM into a backbone network, and enhancing feature distinction degree in a shielding scene by capturing cross-target context association of dense pedestrians; thirdly, an improved C2fG module is proposed to replace a neck C2f module, the parameter quantity is reduced, and the detection performance and the edge deployment efficiency in a complex scene are balanced; then, an SPPFDSC multi-scale fusion layer containing depth separable convolution is designed, an original SPPF layer is replaced, and fine-grained feature perception of small-size pedestrians in the distance is enhanced; and finally, optimizing a bounding box loss function by adopting WIOU v3, improving the target positioning precision in the dense people stream, and finally constructing a multi-pedestrian detection model.

The invention belongs to the field of computer vision and artificial intelligence security, and discloses a self-adaptive frequency domain adversarial training method and device for a target detector, the target detector comprises a repair module and a pedestrian detector which are connected in series, and the input of the repair module is connected with the output of a patch detector; the self-adaptive frequency domain adversarial training method comprises the following steps: losses in joint training comprise standard target detection losses, repair consistency losses on a frequency domain based on a frequency domain image corresponding to a training image and a clean image, and repair dependence losses based on a detected average precision mean value; according to the invention, the end-to-end joint training is carried out through the restoration module and the subsequent pedestrian detector, and the optimization target of the restoration module is directly aligned with the improvement of the detection robustness, so that the confrontation disturbance is eliminated as far as possible, and meanwhile, the key semantic information of the detection task is reserved to the maximum extent. The separation of the performance of the repair module and the pedestrian detector is avoided, and the detection robustness is improved.

The invention relates to an elevator group control system scheduling method based on improved YOLOv10, and belongs to the technical field of intelligent elevator control and computer vision crossing. The elevator group control system scheduling method comprises the following steps that S1, pedestrian images of indoor elevator corridor scenes are collected, and a training set and a test set are constructed; s2, the YOLOv10 network is improved; s3, training the improved YOLOv10 network by using the training set to obtain a pedestrian detection model, and testing by using the test set; s4, the trained pedestrian detection model is used for actual pedestrian detection in the elevator floor; and S5, counting the number of pedestrians on each floor according to a detection result, and dynamically adjusting an elevator scheduling strategy according to the distribution of the number of pedestrians on high and low floors. According to the method, the detection capability of the network on the shielded pedestrians is enhanced, the pedestrian detection precision is improved, and the operation efficiency of the elevator and the riding experience of passengers are remarkably improved.

The invention discloses a multi-pedestrian target detection method based on an unmanned aerial vehicle, and the method comprises the steps: (1) collecting pedestrian video data of the unmanned aerial vehicle, carrying out the frame extraction preprocessing, and marking a pedestrian bounding box, a type, and a confidence coefficient; (2) constructing a YOLOv8 optimization network, wherein a neck network of the YOLOv8 optimization network is integrated with a feature enhancement module, a channel reweighting module and a spatial context sensing module; (3) designing a ternary loss function fusing intersection-to-union ratio, center distance and length-width ratio constraints, wherein the ternary loss function comprises position, category and confidence loss; (4) training the network to converge by adopting a gradient descent method; and (5) deploying the model to the unmanned aerial vehicle to realize real-time detection. According to the method, by improving the network structure and the loss function, the pedestrian detection precision in a complex scene is remarkably improved, efficient data support is provided for an intelligent traffic system, and pedestrian safety guarantee and traffic management efficiency are enhanced.

The invention provides a target detection method and system and a storage medium, and relates to the field of object detection, and the method comprises the steps: obtaining image data and laser radar scanning data corresponding to a current scene; calling a first pedestrian detection model based on an image to carry out pedestrian detection on the image data to obtain position information of a pedestrian target; calling a second pedestrian detection model based on point cloud data to carry out pedestrian detection on the laser radar scanning data to obtain pose information of a pedestrian target; and calling an external parameter matrix to match the position information and the pose information, and outputting three-dimensional position information of the pedestrian target in a space coordinate system. According to the invention, the detection and positioning of the pedestrian target can be realized without using a high-cost depth camera and a three-dimensional laser radar, and the detection precision of the pedestrian target is improved through two different modal data.

The invention discloses a long-distance identity recognition method for a large area, which belongs to the technical field of computer vision and comprises the following steps: S1, initializing a system; s2, collecting video data; s3, pedestrian detection and segmentation; s4, performing gait recognition; s5, multi-target cross-camera tracking is carried out; and S6, result output and application service. According to the invention, an effective solution is provided for large-scene video intelligent security and protection in a complex environment of a park, the accuracy and traceability of personnel identity recognition in a high-risk area are ensured, and the safety production level of the park is improved; a long-distance multi-target identity recognition scheme is provided, real-time monitoring and early warning of illegal person invasion in key protection areas are achieved, and reliable safety guarantee is provided for public places.

The invention discloses a pedestrian detection method based on YOLOv7, and relates to the technical field of image recognition, and the method comprises the following steps: constructing a data set D, and dividing the data set D into a training set DLLVIP-train, a test set DLLVIP-test and a verification set DLLVIP-val; preprocessing images in the data set LLVIP by adopting a Mosaic data enhancement technology, and unifying image sizes to obtain a data set LLVIP '; a network model PCAM-YOLOv7 is constructed; all the images in the data set LLVIP'are sequentially input into the network model PCAM-YOLOv7, and prediction information of a bounding box of each image is obtained; using the training set DLLVIP-train to train a network model PCAM-YOLOv7, and using the training set DLLVIP-train to train a network model; according to the method, the PAELAN module fusing the partial convolution and the Shuffle Attention mechanism, the CCBS module fusing the coordinate convolution and the SPPCSPCATT module fusing the Shuffle Attention mechanism are adopted, the shielded pedestrian target can be efficiently and accurately recognized, and the detection accuracy is remarkably improved.

The invention provides a subway platform edge behavior abnormity real-time identification and early warning method based on deep learning, and relates to the technical field of deep learning, which comprises the steps of obtaining real-time video data, performing pedestrian detection and track extraction, calculating behavior characteristic parameters and a dynamic distance threshold value, performing danger grade division on pedestrians, and performing early warning and early warning. According to the method, time sequence feature extraction is carried out on potential dangerous targets, a behavior abnormity scoring mechanism is established, timely early warning of abnormal behaviors is realized, the accuracy and real-time performance of safety monitoring of the subway platform can be effectively improved, and the occurrence rate of safety accidents can be reduced.

The invention relates to the technical field of automatic driving, in particular to an automatic driving system based on pedestrian motivation and a control method, and the system comprises a data acquisition module, a pedestrian detection module, a pedestrian intention reasoning module and a vehicle control module. The data acquisition module is used for acquiring a video sequence and environment information of a traffic intersection when the intelligent driving vehicle drives to the intersection without the signal lamp. The pedestrian detection module detects pedestrians through video processing and a pedestrian recognition strategy and outputs pedestrian inter-frame images. The pedestrian intention reasoning module classifies pedestrian crossing motivations based on the trajectory and attitude information of pedestrians. The vehicle control module dynamically adjusts the vehicle speed according to the pedestrian motivation type and automatically brakes when necessary so as to ensure that pedestrians safely pass through the intersection. According to the system, self-adaptive comity of the intelligent driving vehicle to pedestrians at the intersection without signal lamps is realized, and the traffic safety and the adaptive capacity of intelligent driving are effectively improved.

The invention provides a single-mirror pedestrian height change perception and adaptive state perception Re-ID tracking method and system. The method comprises the following steps: acquiring a video stream and extracting a video frame; pedestrian detection is carried out on each video frame, and corresponding pedestrian features are extracted according to a pedestrian detection result; judging the confidence coefficient of each detection frame, and constructing a track instance when the confidence coefficient of each detection frame is greater than a threshold value; calculating an adaptive state sensing Re-ID cost matrix and a height change weighted intersection-to-parallel ratio cost matrix to obtain a final cost matrix; performing Hungary matching on the cost matrix to search the most matched trajectory instance for each pedestrian detection object; and integrating the track state, the track updating state and the detection frame state of the current time frame, and updating the track attribute. According to the method, hidden constraints of height changes of the detection frame and the tracking frame are considered, weights of the height changes are added on the basis of area constraints, and the problem of identity switching when pedestrians are shielded can be better solved.

The invention discloses a light-weight unmanned forklift AI visual anti-collision method based on a domestic embedded platform, and the method comprises the following steps: S1, carrying out the preprocessing of an RGB image through a light-weight pedestrian detection module, carrying out the automatic pruning and compression of a deep convolutional network based on an image recognition algorithm of a light-weight convolutional neural network, and carrying out the recognition of the deep convolutional network; lightweight pedestrian detection features are extracted; s2, using a lightweight pedestrian distance estimation module to extract lightweight pedestrian distance estimation features by model compression through camera calibration, image correction, stereo matching and distance acquisition; s3, performing feature fusion, performing feature analysis in combination with a dynamic adaptive sparse transformation network, and completing multi-pedestrian detection and pedestrian distance estimation by introducing a sparse feature adaptive reconstruction mechanism; and S4, deployment is carried out on a domestic embedded platform, and software function module cutting is carried out. According to the invention, a lightweight deep learning algorithm and adaptive feature fusion are adopted, and multi-pedestrian anti-collision detection on a domestic embedded platform is realized.

The invention relates to the technical field of computers, and provides a cloud-edge collaborative abnormal behavior character recognition method, device and system, and the method comprises the steps: edge end equipment employs a trained pedestrian detection model to cut out a video sequence containing pedestrians from a received video sequence, and uploads the video sequence containing the pedestrians to a cloud server; the cloud server cuts a video sequence containing pedestrians according to a set time length to obtain video slices, the video slices and prompt words are input into a trained multi-mode large model to obtain an identification result, the prompt words are described in a video question and answer mode, option question and answer pairs in video question and answer are constructed according to related task types, and the identification result is obtained. The options in the video questions and answers are possible behavior types. The lightweight pedestrian detection is integrated on the side end equipment to reduce the transmission, reduce the processing data volume of the cloud server, solve the problem of high demand of cloud computing resources, and improve the efficiency and response speed of the system.

The invention relates to the technical field of cableway platform intelligent management, in particular to a cableway platform tourist falling detection method, system and device based on visual identification and a medium, and the method comprises the steps: collecting a video stream of a platform region, carrying out the pedestrian detection, obtaining the position of a bounding box of a tourist, and storing the position of the bounding box; a unique track ID and continuous track data are generated for each tourist by using a multi-target tracking algorithm; for each tourist, extracting a human body posture key point coordinate in each frame of the video stream and calculating a posture feature, and when the posture feature meets a preset posture collapse judgment rule, judging that the posture collapse is suspected; carrying out time sequence fusion on the continuous tracks of each tourist, and carrying out real falling event judgment based on the judgment condition of suspected posture collapse; and matching a preset platform area according to the position of the real falling event, outputting a risk level and triggering a corresponding control instruction. According to the invention, the falling behavior can be accurately and stably identified, and the safety protection capability of the cableway platform is improved.

The invention belongs to the technical field of traffic safety pre-warning, and provides a pedestrian zebra crossing pre-warning system device which comprises a mounting stand column, a monitoring assembly and a pre-warning assembly, a connecting base is arranged at the top of the front side of the mounting stand column, the monitoring assembly is arranged on the connecting base, and the monitoring assembly comprises an AI camera, a laser radar and a far infrared sensor. The early warning assembly comprises an electronic warning board, a laser transmitter and a laser spotlight; by comprehensively using various sensors such as the AI camera, the infrared sensor and the laser radar, pedestrians can be monitored and recognized from different angles and different modes, the accuracy of pedestrian recognition is improved, and the method is particularly suitable for pedestrian detection under complex weather and illumination conditions and has a wide application prospect. Through the synergistic effect of the laser spotlight, the laser curtain wall, the electronic warning board and the warning sound, early warning is performed on drivers and pedestrians from multiple aspects of visual sense and auditory sense, the early warning effect is enhanced, and the safety of the pedestrians crossing the road is improved.

The invention discloses a vehicle trunk automatic opening method and device and a computer program product, and the method comprises the steps: firstly, after the device fingerprint verification of a target vehicle is passed, obtaining N paths of surrounding video streams through a whole vehicle panoramic camera composed of N vehicle-mounted cameras; and then pedestrian detection and cross-shot pedestrian tracking processing are carried out on each frame of image in the N paths of video streams to obtain a pedestrian detection result and a pedestrian tracking result. Generating a BEV pedestrian trajectory according to a pedestrian tracking result; a target pedestrian BEV track is screened out from the target pedestrian BEV track; and after the identity verification of the target pedestrian is passed, obtaining a state diagram of the target pedestrian according to a pedestrian detection result, inputting the BEV track of the target pedestrian, the state diagram of the target pedestrian and the scene text information of the landmark building within the preset range around the target vehicle into a VLM in combination with prompt, and when the VLM judges that the target pedestrian has the intention of opening the trunk, opening the trunk. And the trunk is automatically opened, so that the safety of the target vehicle and the vehicle use experience of the target pedestrian are improved.

The invention discloses a vehicle and pedestrian detection method based on improved YOLOv8, and the method comprises the following steps: introducing a self-adaptive SE attention mechanism into a C2f module, and enhancing the extraction of key features; a double-path feature separation and fusion strategy is introduced into the C2f module, so that the detection precision of the model is improved; dynamic convolution optimization feature extraction and lightweight processing are introduced into the Bottleneck module, and global information collection is enhanced. According to the invention, by introducing an adaptive SE attention mechanism, a dual-path feature separation and fusion strategy and dynamic convolution optimization feature extraction and lightweight processing, the detection performance and calculation efficiency of the model are significantly improved; the method has remarkable advantages in the aspects of precision, calculation efficiency and model lightweight, and has wide application prospects in the fields of intelligent traffic monitoring, automatic driving systems, public safety and the like.

The invention provides a multi-view pedestrian detection method and system based on dual adaptive feature fusion, and belongs to the technical field of computer vision. According to the method, in a unified aerial view space, firstly, a cross-view feature selection module is introduced, and a multi-head self-attention mechanism is utilized to perform dynamic complementation and weighted fusion on features from different cameras so as to enhance the semantic integrity of a shielded area; then, a view channel map attention module is introduced, fused features are constructed into a view-channel map structure, modeling is carried out on the joint dependency relationship between view channels through a map attention perception multilayer perceptron combining global and local context pooling, self-adaptive reweighting of channel importance is achieved, and the self-adaptive reweighting of channel importance is realized; therefore, the discrimination of the fusion features is improved. And the finally obtained unified features are used for ground pedestrian positioning. According to the method, the detection performance bottleneck caused by visual angle shielding and channel redundancy is effectively relieved, and the quality of the ground occupancy map is remarkably improved.

The invention discloses a pedestrian multi-target tracking method based on an attention mechanism, and the method comprises the steps: inputting a current frame image into a trained target tracking model: inputting the current frame image into a backbone network for feature extraction, and obtaining pedestrian feature maps of multiple scales; inputting the pedestrian feature maps of multiple scales into a target sensing module for weighted fusion to obtain a fused feature map; inputting the fused feature map into a feature decoupling module for feature decoupling to obtain a first feature map for target detection and a second feature map for Re-ID; respectively inputting the first feature map and the second feature map into a target detection branch and an Re-ID branch to carry out target detection and Re-ID; and the secondary association algorithm realizes association matching of the pedestrian detection frame and the trajectory based on the detection result and the appearance embedding vector to obtain the tracking result of each target. According to the invention, the accuracy and effectiveness of pedestrian multi-target tracking can be improved.

The invention discloses a lightweight crowded scene pedestrian detection method based on improved YOLOv11n. The method specifically comprises the following steps: (1) establishing a crowded scene pedestrian image data set; (2) adding annotation information to the images in the data set; (3) constructing a lightweight crowded scene pedestrian detection model based on the improved YOLOv11n; (4) training the model by adopting the training set and the verification set, and storing the trained model; and (5) the test set is adopted to test the model, the precision of the model meets the generalization requirement, and the final lightweight crowded scene pedestrian detection model based on the improved YOLOv11n is obtained. Compared with the prior art, the lightweight crowded scene pedestrian detection method based on the improved YOLOv11n disclosed by the invention has the advantages that the accuracy of crowded scene pedestrian detection can be effectively improved, and meanwhile, the model has a better lightweight characteristic and is convenient to deploy on a mobile hardware platform with limited resources.

The invention discloses a lightweight high-efficiency dense pedestrian detection model based on a YOLO-CPEE algorithm, belongs to the technical field of computer vision, and aims to solve the detection problem caused by high-density overlapping between pedestrians and a small proportion of distant pedestrians in an image. On the basis of a YOLO11 model, a cascade group attention mechanism is integrated into an original feature extraction module C2PSA to form a new C2CGA module, and good balance between model calculation efficiency and precision is achieved; a high-resolution P2 feature layer is introduced to better capture shallow pedestrian feature details and position information of small targets; cross-scale feature interaction and adaptive weight distribution are realized through an efficient multi-scale attention mechanism, and the multi-scale feature extraction capability is further improved; a novel lightweight high-efficiency detection head is designed, and the target detection capability is remarkably improved while model parameters are reduced.

The invention belongs to the field of computer vision and cross-modal retrieval, and particularly relates to an image-text pedestrian retrieval method based on image block replacement and cross-modal identity alignment, which comprises the following steps: acquiring a public data set of image and text description, and constructing a pedestrian re-recognition model PRCIA; inputting the data set into a PRCIA model for training and verification, and performing iterative updating on a training weight file through forward and backward propagation to obtain a trained PRCIA model; constructing a reasoning stage model, reserving double encoders and fusing global features in a reasoning stage, and ensuring the calculation efficiency; and inputting the test set into the reasoning stage model to obtain a detection result, thereby realizing text-based pedestrian detection. According to the method, fine-grained association between the image blocks and the text phrases is established through the PR module, cross-modal identity feature expression is enhanced through the CIA module, the accuracy and robustness of text-to-image pedestrian retrieval are remarkably improved, and the requirements of actual scenes are more easily met.

The invention discloses a library people flow monitoring method and system based on multi-mode and trajectory fusion. The method comprises the steps of collecting a video stream, generating a weight image by using an attention mechanism to enhance a pedestrian area, extracting a pedestrian frame through YOLOv11 target detection, and positioning a pedestrian subject and separating a background in combination with a segmentation model; feature points and descriptors are extracted through SuperPoint, inter-frame motion parameters are calculated through feature matching, and tracks are predicted and verified by means of Kalman filtering; and finally, associating pedestrian tracks through unique IDs, and dynamically tracking in and out states to count the pedestrian flow. According to the method, the problems of shielding, small target missing detection and track drifting are effectively solved, and high-precision people flow statistics is realized; more accurate and robust pedestrian detection and tracking are realized through multi-modal data fusion and dynamic trajectory fusion; through the schemes of feature point extraction, Kalman filtering and the like, the prediction of pedestrian motion trails is optimized, and the real-time performance and precision of pedestrian flow monitoring are improved.

The invention provides a self-adaptive visual navigation method, system and device for a dynamic pedestrian environment, and relates to the technical field of artificial intelligence, and the method comprises the steps: obtaining an environment scene image through a robot, and obtaining the point cloud data of the environment; the pedestrian detection and prediction module uses a pre-trained neural network model to carry out real-time detection on pedestrians and associated articles in the environmental point cloud data to obtain a mask, and predicts the future position of the pedestrians according to the mask; the dynamic scene-oriented visual positioning module extracts features based on an input environment scene image, recovers three-dimensional coordinates of feature points in combination with point cloud data, establishes an initial map, screens the extracted feature points according to a mask result in each subsequent frame, and matches the extracted feature points with the feature points in the initial map to estimate pose information of each frame; the dynamic map updating module is used for generating a semantic map by using the received pose information, local map point cloud information, semantic information and pedestrian position information, dynamically fusing the future position of the pedestrian into the semantic map, and updating by adopting a maximum pooling mode of time sequence change; the autonomous mixed path planning module ensures that the robot reaches the target position based on adaptive path planning according to the updated semantic map and the target position; the self-adaptive visual navigation method not only improves the navigation efficiency and accuracy, but also reduces the cost of the system, and has a wide application prospect.

A blind spot alert method for a rearview mirror display screen, and a rearview mirror display screen, relating to the field of monitoring and alert display. The blind spot alert method for a rearview mirror display screen comprises: receiving an external blind spot image generated by a vehicle monitoring apparatus, and performing pre-processing on the external blind spot image; inputting the processed external blind spot image into a pedestrian detection model, the pedestrian detection model performing inference and judgment on the external blind spot image and outputting an image marked with a pedestrian marking box; a rearview mirror display screen displaying, to a driver, the image marked with the pedestrian marking box. Training steps of the pedestrian detection model comprise: acquiring a safe distance of a vehicle and a set of vehicle surrounding images containing marking data; generating an initial marking box on the basis of the marking data; and inputting an image having the initial marking box into a YOLO network for training until the YOLO network converges. The method can cause a driver to efficiently and conveniently judge the distance of a pedestrian from the vehicle by means of the rearview mirror display screen, thereby improving driving safety and comfort.