CN109444905A - A kind of dynamic object detection method, device and terminal device based on laser - Google Patents
A kind of dynamic object detection method, device and terminal device based on laser Download PDFInfo
- Publication number
- CN109444905A CN109444905A CN201811064921.9A CN201811064921A CN109444905A CN 109444905 A CN109444905 A CN 109444905A CN 201811064921 A CN201811064921 A CN 201811064921A CN 109444905 A CN109444905 A CN 109444905A
- Authority
- CN
- China
- Prior art keywords
- data point
- data
- length
- laser
- dynamic object
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application is suitable for technical field of data processing, provide a kind of dynamic object detection method, device and terminal device based on laser, the described method includes: obtaining the laser distance data of all angles in laser distance data frame, the difference of the background range data of all angles and the laser distance data of corresponding angle is calculated separately；It marks the difference to be greater than the corresponding data point of laser distance data of preset distance threshold value, judges whether the length of each data point being consecutively marked is greater than presetting length；When the length of each data point being consecutively marked is greater than presetting length, determine that each corresponding object of data point being consecutively marked is dynamic object.The application, which can solve, carries out dynamic object detection, the bad problem of recognition effect in the environment of dark by camera in the prior art.
Description
Technical field
The application belongs to technical field of data processing more particularly to a kind of dynamic object detection method based on laser, dress
It sets and terminal device.
Background technique
With the development of smart home, in order to improve the intelligence of each household electrical appliances and the considerations of for security protection, to goer
The demand that physical examination is surveyed is increasing, such as the position where user, intelligent opening can be detected by dynamic object detection technique
When unattended in the light of corresponding region or manager, by dynamic object detection technique to burglary the case where is carried out
It warns.
It is currently mostly that image recognition is carried out to video pictures and judges whether to deposit by camera captured in real-time video pictures
In dynamic object.But by camera carry out dynamic object detection can be limited to ambient brightness, when camera be in light compared with
When dark environment, it is difficult to pass through the picture that camera is shot and identify dynamic object.
To sum up, dynamic object detection, recognition effect in the environment of dark are carried out by camera in the prior art
It is bad.
Summary of the invention
In view of this, the embodiment of the present application provides a kind of dynamic object detection method, device and terminal based on laser
Equipment, to solve in the prior art by camera progress dynamic object detection, recognition effect is not in the environment of dark
Good problem.
The first aspect of the embodiment of the present application provides a kind of dynamic object detection method based on laser, comprising:
The laser distance data for obtaining all angles in laser distance data frame, calculate separately the background distance of all angles
The difference of data and the laser distance data of corresponding angle；
It marks the difference to be greater than the corresponding data point of laser distance data of preset distance threshold value, judges each continuous
Whether the length of the data point of label is greater than presetting length；
When the length of each data point being consecutively marked is greater than presetting length, each described continuously marked is determined
The corresponding object of the data point of note is dynamic object.
The second aspect of the embodiment of the present application provides a kind of dynamic object detection device based on laser, comprising:
Difference calculating module is calculated separately for obtaining the laser distance data of all angles in laser distance data frame
The difference of the laser distance data of the background range data and corresponding angle of all angles；
Length comparison module, for marking the difference to be greater than the corresponding data of laser distance data of preset distance threshold value
Point, judges whether the length of each data point being consecutively marked is greater than presetting length；
Dynamic determination module, for sentencing when the length of each data point being consecutively marked is greater than presetting length
Fixed each corresponding object of data point being consecutively marked is dynamic object.
The third aspect of the embodiment of the present application provides a kind of terminal device, including memory, processor and is stored in
In the memory and the computer program that can run on the processor, when the processor executes the computer program
It realizes such as the step of the above method.
The fourth aspect of the embodiment of the present application provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, realizes when the computer program is executed by processor such as the step of the above method.
Existing beneficial effect is the embodiment of the present application compared with prior art:
In the dynamic object detection method based on laser of the application, the laser distance data that are obtained using laser ranging into
Mobile state object detection calculates the background range data of all angles and the difference of laser distance data, when difference is greater than preset
When distance threshold, illustrates that the corresponding data point of laser distance data may be fallen on dynamic object, which is marked
Note then determines the corresponding object of the data point being consecutively marked when the length of the data point of continued labelling is greater than presetting length
For dynamic object, the laser distance data that laser ranging obtains are only used in detection process, it can or dark normal in light
In the environment of work normally, solve in the prior art by camera carry out dynamic object detection, in the environment of dark
The bad problem of lower recognition effect.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some of the application
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of implementation process signal of dynamic object detection method based on laser provided by the embodiments of the present application
Figure；
Fig. 2 is a kind of schematic diagram of dynamic object detection device based on laser provided by the embodiments of the present application；
Fig. 3 is the schematic diagram of terminal device provided by the embodiments of the present application.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application embodiment.However, it will be clear to one skilled in the art that there is no these specific
The application also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, so as not to obscure the description of the present application with unnecessary details.
In order to illustrate technical solution described herein, the following is a description of specific embodiments.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this present specification merely for the sake of description specific embodiment
And be not intended to limit the application.As present specification and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in present specification and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In the specific implementation, mobile terminal described in the embodiment of the present application is including but not limited to such as with the sensitive table of touch
Mobile phone, laptop computer or the tablet computer in face (for example, touch-screen display and/or touch tablet) etc it is other
Portable device.It is to be further understood that in certain embodiments, above equipment is not portable communication device, but is had
The desktop computer of touch sensitive surface (for example, touch-screen display and/or touch tablet).
In following discussion, the mobile terminal including display and touch sensitive surface is described.However, should manage
Solution, mobile terminal may include that one or more of the other physical User of such as physical keyboard, mouse and/or control-rod connects
Jaws equipment.
Mobile terminal supports various application programs, such as one of the following or multiple: drawing application program, demonstration application
Program, word-processing application, website creation application program, disk imprinting application program, spreadsheet applications, game are answered
With program, telephony application, videoconference application, email application, instant messaging applications, forging
Refining supports application program, photo management application program, digital camera application program, digital camera application program, web-browsing to answer
With program, digital music player application and/or video frequency player application program.
At least one of such as touch sensitive surface can be used in the various application programs that can be executed on mobile terminals
Public physical user-interface device.It can be adjusted among applications and/or in corresponding application programs and/or change touch is quick
Feel the corresponding information shown in the one or more functions and terminal on surface.In this way, terminal public physical structure (for example,
Touch sensitive surface) it can support the various application programs with user interface intuitive and transparent for a user.
Embodiment one:
A kind of dynamic object detection method based on laser provided below the embodiment of the present application one is described, and please join
Attached drawing 1 is read, the dynamic object detection method based on laser in the embodiment of the present application one includes:
Step S101, the laser distance data for obtaining all angles in laser distance data frame, calculate separately all angles
Background range data and corresponding angle the laser distance data difference；
It can detecte the laser distance data of all angles by laser radar, for example, existing by the way that laser radar is arranged
Rotated on same plane with pre-set velocity, can be detected different time under all angles laser distance data, a laser away from
From the laser distance data that data frame includes all angles that laser radar detects in a cycle.
After getting laser distance data frame, the laser distance data in laser distance data frame are divided, example
Such as, when the detection range of laser radar is 360 degree, the data in laser distance data frame that can be will test are divided into
360 parts, i.e., 0 degree to 359 degree.
Since ranging process is there are error, carrying out laser distance data that ranging obtains to the same object can also
Can be different, at this point, each angle can calculate being averaged for these laser distance data there may be multiple laser distance data
Value, using average value as the corresponding laser distance data of the angle, or using maximum value as the corresponding laser distance of the angle
Data, or using minimum value as the corresponding laser distance data of the angle, specific set-up mode can according to the actual situation into
Row determines.
After obtaining the laser distance data of all angles, can calculate separately the background range data of all angles with it is right
Answer the difference of the laser distance data of angle.
Step S102, the difference is marked to be greater than the corresponding data point of laser distance data of preset distance threshold value, judgement
Whether the length of each data point being consecutively marked is greater than presetting length；
When difference is greater than preset distance threshold value, then it is assumed that the corresponding data point of laser distance data is possible to fall in dynamic
On state object, which is marked.
Data point determines that when characterization laser radar carries out laser ranging, laser is in object by laser distance data and angle
Drop point site on body.
Preset distance threshold value, which can be set to fixed value, may be set to be ratio value, for example, preset distance threshold value can be with
It is set as the 10% of the background range data of the angle, such as the background range data of the angle is 10m, laser distance data are
5.3m, difference are that 4.7m is greater than 1m (the 10% of background range data), then carry out to the corresponding data point of the laser distance data
Label.
Individual data point may be because environmental disturbances or calculating the reasons such as error causes the data point labeled, therefore,
Only the data point being consecutively marked is analyzed, is consecutively marked and refers to that the angle of labeled each data point is continuous, example
If labeled data point is (12 degree, 8.0m), (30 degree, 5.7m), (31 degree, 5.8m), (32 degree, 5.6m), (45 degree, 3.2m)
(67 degree, 6.9m), the then data point being consecutively marked are (30 degree, 5.7m), (31 degree, 5.8m) and (32 degree, 5.6m).
The length for the data point being consecutively marked is calculated, and judges the length of each data point being consecutively marked
Whether presetting length is greater than, presetting length can be configured according to the actual situation, for example, when thinking that length is dynamic less than 15cm
State object is without that can set 15cm for presetting length when paying close attention to.
Step S103, when the length of each data point being consecutively marked is greater than presetting length, determine each institute
Stating the corresponding object of the data point being consecutively marked is dynamic object.
When the length of each data point being consecutively marked is greater than presetting length, then each number being consecutively marked is determined
The corresponding object in strong point is dynamic object.
In the above-mentioned dynamic object detection method based on laser, the laser distance data obtained by laser ranging are moved
State object detection will not identify can working normally in the case where dark in the environment of any brightness
Ineffective situation.
After each corresponding object of data point being consecutively marked of judgement is dynamic object, it can also position
The center of the dynamic object, comprising:
The intermediate value angle for obtaining each corresponding angle of data point being consecutively marked, by the intermediate value angle and institute
State center of the corresponding laser distance data of intermediate value angle as dynamic object.
In some smart home applications, such as intelligent fan and intelligent interaction product, need to obtain the position of dynamic object,
To control the direction of fan and the direction direction dynamic object of interactive interface.
The intermediate value angle of each corresponding angle of data point being consecutively marked available at this time, with intermediate value angle in
Be worth center of the corresponding laser distance data of angle as dynamic object, for example, the data point being consecutively marked for (30 degree,
5.7m), (31 degree, 5.8m) and (32 degree, 5.6m), then using 31 degree and 5.8m as the center of dynamic object.
In addition, being only wherein the one of center calculation above by the method that intermediate value angle finds center
Kind, other calculations can also be selected to calculate the center of each data point being consecutively marked, example according to the actual situation
The position such as centered on the smallest position of sum of the distance with each data point being consecutively marked, the specific meter of center
Calculation mode is it is not limited here.
Background range data is carried out more at the same time it can also use laser ranging each time to obtain laser distance data frame
Newly, comprising:
The background range data of all angles and corresponding laser distance data are compared respectively, take the larger value conduct
The new background range data of all angles.
After laser ranging each time obtains laser distance data frame, the laser distance in laser distance data frame can be used
Data are updated background range data, respectively by the background range data of all angles and corresponding laser distance data into
Row compares, and the background range data that biggish value is new as all angles is taken, for example, present 30 degree of corresponding background range data
For 8m, if 30 degree of corresponding laser distance data are 9m in laser distance data frame, by 30 degree of corresponding backgrounds apart from number
According to 9m is updated to, if 30 degree of corresponding laser distance data are 7m in laser distance data frame, not to 30 degree of corresponding back
Scape range data is updated.
The renewal process of background range data, which can be set, asks poor with corresponding laser distance data in background range data
It before value, also can be set after background range data seeks difference with corresponding laser distance data, two kinds of set-up modes exist
Effect is consistent in actual use.
The length of each data point being consecutively marked calculates by the following method:
A1, in each data point being consecutively marked, according to the adjacent corresponding angle of data point and swash respectively
Electrical distance data calculate the line segment length between the adjacent data point, by the line segment between each adjacent data point
Length sums to obtain the length of each data point being consecutively marked.
The length for calculating each data point being consecutively marked can calculate separately length along path between adjacent data point
Degree, then sums to obtain the length of each data point being consecutively marked, for example, the data point being consecutively marked be (30 degree,
5.7m), (31 degree, 5.8m) and (32 degree, 5.6m) can first seek the line between data point (30 degree, 5.7m) and (31 degree, 5.8m)
Line segment length between segment length and data point (31 degree, 5.8m) and (32 degree, 5.6m), then two line segment lengths are summed
To the length of each data point being consecutively marked.
It, can be according to the laser distance data of two data points and two when calculating the line segment length between two data points
The differential seat angle of data point calculates the line segment length between two data points.
Alternatively, A2, in each data point being consecutively marked, choose first labeled data point and last
One labeled data point, according to first labeled data point and the last one described labeled data point pair
The angle and laser distance data answered calculate first labeled data point and the last one described labeled data
Line segment length between point, using the line segment length as the length of each data point being consecutively marked.
Calculate each data point being consecutively marked length can also directly calculate first labeled data point and
Line segment length between the last one labeled data point, in this, as the length of each data point being consecutively marked, example
Such as, the data point being consecutively marked is (30 degree, 5.7m), (31 degree, 5.8m) and (32 degree, 5.6m), can directly calculate data
Line segment length between point (30 degree, 5.7m) and (32 degree, 5.6m), in this, as the length of each data point being consecutively marked
Degree.
Alternatively, A3, in each data point being consecutively marked, choose first labeled data point and last
One labeled data point, using the laser distance data of first labeled data point as radius, according to described
Radius and first labeled data point and the corresponding angle calculation arc of the last one described labeled data point
Line length, using the arc length as the length of each data point being consecutively marked.
Calculate each data point being consecutively marked length can also by the laser of first labeled data point away from
It is corresponding with the last one labeled data point according to radius and first labeled data point from data as radius
Angle calculation arc length, using arc length as the length of each data point being consecutively marked, for example, be consecutively marked
Data point is (30 degree, 5.7m), (31 degree, 5.8m) and (32 degree, 5.6m), with first labeled data point (30 degree,
For laser distance data 5.7m 5.7m) as radius, the differential seat angle of data point (30 degree, 5.7m) and (32 degree, 5.6m) is 2 degree,
Arc length is calculated according to radius and differential seat angle, using arc length as the length of each data point being consecutively marked.
The initial background range data of all angles obtains by the following method:
Dynamic object detection instruction is received, will test to obtain first frame laser distance according to the dynamic object detection instruction
The laser distance data of all angles background range data initial as all angles in data frame.
Initial background range data, which can be, presets completion, be also possible to receive dynamic object detection refer to
When enabling, according to the progress laser ranging of dynamic object detection instruction, in the first frame laser distance data frame that laser ranging is obtained
All angles the laser distance data background range data initial as all angles.
In the dynamic object detection method based on laser that the present embodiment one provides, the laser that is obtained by laser ranging away from
Dynamic object detection is carried out from data, can be worked normally in the environment of or dark normal in light, solve the prior art
In by camera carry out dynamic object detection, the bad problem of recognition effect in the environment of dark.
In addition, scan frequency is high when carrying out dynamic object detection by the laser distance data that laser ranging obtains, processing
Speed is fast, real-time detection dynamic object, and carries out dynamic object detection by camera, needs to calculate by complicated image recognition
Method identifies that treatment effeciency is low to dynamic object, and the real-time of recognition result is poor.
Meanwhile the center of dynamic object can be determined by finding the modes such as intermediate value angle, it realizes in dynamic object
The tracking of heart position improves user in order to which the equipment such as intelligent fan and intelligent interaction product are preferably interacted with user
Experience property.
It, can be according to the laser of all angles in laser distance data frame when obtaining new laser distance data frame each time
Range data is updated background range data, to improve the timeliness of background range data, thus more accurately to dynamic
Object is identified.
It during identifying dynamic object, needs to calculate the length of each data point being consecutively marked, meter may be selected
Calculate consecutive number strong point line segment length sum again, calculates head and the tail data point line segment length or calculating head and the tail data point camber line it is long
The calculations such as degree are calculated, and the selection of specific calculation can be determined according to practical application scene.
Initial background range data can be it is pre-set, be also possible to by first frame laser distance data frame swash
Electrical distance data are as background range data.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present application constitutes any limit
It is fixed.
Embodiment two:
The embodiment of the present application two provides a kind of dynamic object detection device based on laser, for purposes of illustration only, only showing
Part relevant to the application, as shown in Fig. 2, the dynamic object detection device based on laser includes,
Difference calculating module 201 is counted respectively for obtaining the laser distance data of all angles in laser distance data frame
Calculate the difference of the background range data of all angles and the laser distance data of corresponding angle；
Length comparison module 202, the laser distance data for marking the difference to be greater than preset distance threshold value are corresponding
Data point, judges whether the length of each data point being consecutively marked is greater than presetting length；
Dynamic determination module 203, for when the length of each data point being consecutively marked be greater than presetting length when,
Determine that each corresponding object of data point being consecutively marked is dynamic object.
Described device further include:
Centralized positioning module, for obtaining the intermediate value angle of each corresponding angle of data point being consecutively marked,
Using the intermediate value angle and the corresponding laser distance data of the intermediate value angle as the center of dynamic object.
Described device further include:
Context update module, for respectively carrying out the background range data of all angles and corresponding laser distance data
Compare, takes the background range data that the larger value is new as all angles.
Described device further include:
Length computation module, in each data point being consecutively marked, respectively according to adjacent data point
Corresponding angle and laser distance data calculate the line segment length between the adjacent data point, by each adjacent number
Line segment length between strong point sums to obtain the length of each data point being consecutively marked.
Alternatively, length computation module, labeled in each data point being consecutively marked, choosing first
Data point and the last one labeled data point, according to first labeled data point and the last one described quilt
The corresponding angle of the data point of label and laser distance data calculate first labeled data point and it is described last
Line segment length between a labeled data point, using the line segment length as each data point being consecutively marked
Length.
Alternatively, length computation module, labeled in each data point being consecutively marked, choosing first
Data point and the last one labeled data point, using the laser distance data of first labeled data point as
Radius, it is corresponding according to the radius and first labeled data point and the last one described labeled data point
Angle calculation arc length, using the arc length as the length of each data point being consecutively marked.
Described device further include:
Background modeling module will test for receiving dynamic object detection instruction according to the dynamic object detection instruction
Obtain the laser distance data of all angles in the first frame laser distance data frame back pitch initial as all angles
From data.
It should be noted that the contents such as information exchange, implementation procedure between above-mentioned apparatus/unit, due to the application
Embodiment of the method is based on same design, concrete function and bring technical effect, for details, reference can be made to embodiment of the method part, this
Place repeats no more.
Embodiment three:
Fig. 3 is the schematic diagram for the terminal device that the embodiment of the present application three provides.As shown in figure 3, the terminal of the embodiment is set
Standby 3 include: processor 30, memory 31 and are stored in the meter that can be run in the memory 31 and on the processor 30
Calculation machine program 32.The processor 30 realizes the above-mentioned dynamic object detection side based on laser when executing the computer program 32
Step in method embodiment, such as step S101 to S103 shown in FIG. 1.Alternatively, the processor 30 executes the computer
The function of each module/unit in above-mentioned each Installation practice, such as the function of module 201 to 203 shown in Fig. 2 are realized when program 32
Energy.
Illustratively, the computer program 32 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 31, and are executed by the processor 30, to complete the application.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 32 in the terminal device 3 is described.For example, the computer program 32 can be divided
It is cut into difference calculating module, length comparison module and dynamic determination module, each module concrete function is as follows:
The laser distance data for obtaining all angles in laser distance data frame, calculate separately the background distance of all angles
The difference of data and the laser distance data of corresponding angle；
It marks the difference to be greater than the corresponding data point of laser distance data of preset distance threshold value, judges each continuous
Whether the length of the data point of label is greater than presetting length；
When the length of each data point being consecutively marked is greater than presetting length, each described continuously marked is determined
The corresponding object of the data point of note is dynamic object.
The terminal device 3 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The terminal device may include, but be not limited only to, processor 30, memory 31.It will be understood by those skilled in the art that Fig. 3
The only example of terminal device 3 does not constitute the restriction to terminal device 3, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the terminal device can also include input-output equipment, net
Network access device, bus etc..
Alleged processor 30 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 31 can be the internal storage unit of the terminal device 3, such as the hard disk or interior of terminal device 3
It deposits.The memory 31 is also possible to the External memory equipment of the terminal device 3, such as be equipped on the terminal device 3
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 31 can also both include the storage inside list of the terminal device 3
Member also includes External memory equipment.The memory 31 is for storing needed for the computer program and the terminal device
Other programs and data.The memory 31 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
Scope of the present application.
In embodiment provided herein, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the application realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality
Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution should all
Comprising within the scope of protection of this application.
Claims (10)
1. a kind of dynamic object detection method based on laser characterized by comprising
The laser distance data for obtaining all angles in laser distance data frame, calculate separately the background range data of all angles
With the difference of the laser distance data of corresponding angle；
It marks the difference to be greater than the corresponding data point of laser distance data of preset distance threshold value, judges each be consecutively marked
The length of data point whether be greater than presetting length；
When the length of each data point being consecutively marked is greater than presetting length, each described be consecutively marked is determined
The corresponding object of data point is dynamic object.
2. the dynamic object detection method based on laser as described in claim 1, which is characterized in that the judgement is each described
The corresponding object of the data point being consecutively marked is after dynamic object further include:
The intermediate value angle for obtaining each corresponding angle of data point being consecutively marked, by the intermediate value angle and it is described in
It is worth center of the corresponding laser distance data of angle as dynamic object.
3. the dynamic object detection method based on laser as described in claim 1, which is characterized in that the method also includes:
The background range data of all angles and corresponding laser distance data are compared respectively, take the larger value as each
The new background range data of angle.
4. the dynamic object detection method based on laser as described in claim 1, which is characterized in that described each continuously to be marked
The length of the data point of note calculates by the following method:
In each data point being consecutively marked, respectively according to the adjacent corresponding angle of data point and laser distance number
According to the line segment length calculated between the adjacent data point, the line segment length between each adjacent data point is summed
Obtain the length of each data point being consecutively marked.
5. the dynamic object detection method based on laser as described in claim 1, which is characterized in that described each continuously to be marked
The length of the data point of note calculates by the following method:
In each data point being consecutively marked, chooses first labeled data point and the last one is labeled
Data point according to first labeled data point and the last one described corresponding angle of labeled data point and swashs
Electrical distance data calculate the line segment between first labeled data point and the last one described labeled data point
Length, using the line segment length as the length of each data point being consecutively marked.
6. the dynamic object detection method based on laser as described in claim 1, which is characterized in that described each continuously to be marked
The length of the data point of note calculates by the following method:
In each data point being consecutively marked, chooses first labeled data point and the last one is labeled
Data point, using the laser distance data of first labeled data point as radius, according to the radius and described
First labeled data point and the corresponding angle calculation arc length of the last one described labeled data point, will be described
Length of the arc length as each data point being consecutively marked.
7. the dynamic object detection method based on laser as described in any one of claim 1 to 6, which is characterized in that each
The initial background range data of a angle obtains by the following method:
Dynamic object detection instruction is received, will test to obtain first frame laser distance data according to the dynamic object detection instruction
The laser distance data of all angles background range data initial as all angles in frame.
8. a kind of dynamic object detection device based on laser characterized by comprising
Difference calculating module calculates separately each for obtaining the laser distance data of all angles in laser distance data frame
The difference of the laser distance data of the background range data and corresponding angle of angle；
Length comparison module, for marking the difference to be greater than the corresponding data point of laser distance data of preset distance threshold value,
Judge whether the length of each data point being consecutively marked is greater than presetting length；
Dynamic determination module, for determining each when the length of each data point being consecutively marked is greater than presetting length
A corresponding object of data point being consecutively marked is dynamic object.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 7 when executing the computer program
The step of any one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 7 of realization the method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811064921.9A CN109444905B (en) | 2018-09-12 | 2018-09-12 | Dynamic object detection method and device based on laser and terminal equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811064921.9A CN109444905B (en) | 2018-09-12 | 2018-09-12 | Dynamic object detection method and device based on laser and terminal equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109444905A true CN109444905A (en) | 2019-03-08 |
| CN109444905B CN109444905B (en) | 2020-08-25 |
Family
ID=65532798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811064921.9A Active CN109444905B (en) | 2018-09-12 | 2018-09-12 | Dynamic object detection method and device based on laser and terminal equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109444905B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112629470A (en) * | 2020-12-22 | 2021-04-09 | 石家庄市科恒电子有限公司 | Depth measurement method and depth measurement system |
| CN113156453A (en) * | 2021-04-09 | 2021-07-23 | 武汉联一合立技术有限公司 | Moving object detection method, apparatus, device and storage medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101957197A (en) * | 2009-07-17 | 2011-01-26 | 株式会社拓普康 | Location measurement method and position measuring instrument |
| CN103780837A (en) * | 2014-01-02 | 2014-05-07 | 中安消技术有限公司 | Motion detection and positioning photography method and device thereof |
| CN104318561A (en) * | 2014-10-22 | 2015-01-28 | 上海理工大学 | Method for detecting vehicle motion information based on integration of binocular stereoscopic vision and optical flow |
| CN105157583A (en) * | 2015-09-16 | 2015-12-16 | 北京新联铁科技股份有限公司 | Axle journal length measurement system |
| CN106226777A (en) * | 2016-08-17 | 2016-12-14 | 乐视控股（北京）有限公司 | Infrared acquisition localization method and system |
| CN106323182A (en) * | 2016-08-08 | 2017-01-11 | 北京农业信息技术研究中心 | Plant stalk diameter measuring method and device |
| CN106530328A (en) * | 2016-11-04 | 2017-03-22 | 深圳维周机器人科技有限公司 | Method for detecting and smoothly following moving object based on video images |
| CN106529528A (en) * | 2016-09-30 | 2017-03-22 | 浙江宇视科技有限公司 | Method and equipment for identifying effective moving target |
| CN107798700A (en) * | 2017-09-27 | 2018-03-13 | 歌尔科技有限公司 | Determination method and device, projecting apparatus, the optical projection system of user's finger positional information |
| CN108196468A (en) * | 2018-03-26 | 2018-06-22 | 京东方科技集团股份有限公司 | Intelligent home furnishing control method and intelligent domestic system |
| CN108363060A (en) * | 2018-01-19 | 2018-08-03 | 上海思岚科技有限公司 | A kind of dynamic disorder object detecting method and equipment |
-
2018
- 2018-09-12 CN CN201811064921.9A patent/CN109444905B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101957197A (en) * | 2009-07-17 | 2011-01-26 | 株式会社拓普康 | Location measurement method and position measuring instrument |
| CN103780837A (en) * | 2014-01-02 | 2014-05-07 | 中安消技术有限公司 | Motion detection and positioning photography method and device thereof |
| CN104318561A (en) * | 2014-10-22 | 2015-01-28 | 上海理工大学 | Method for detecting vehicle motion information based on integration of binocular stereoscopic vision and optical flow |
| CN105157583A (en) * | 2015-09-16 | 2015-12-16 | 北京新联铁科技股份有限公司 | Axle journal length measurement system |
| CN106323182A (en) * | 2016-08-08 | 2017-01-11 | 北京农业信息技术研究中心 | Plant stalk diameter measuring method and device |
| CN106226777A (en) * | 2016-08-17 | 2016-12-14 | 乐视控股（北京）有限公司 | Infrared acquisition localization method and system |
| CN106529528A (en) * | 2016-09-30 | 2017-03-22 | 浙江宇视科技有限公司 | Method and equipment for identifying effective moving target |
| CN106530328A (en) * | 2016-11-04 | 2017-03-22 | 深圳维周机器人科技有限公司 | Method for detecting and smoothly following moving object based on video images |
| CN107798700A (en) * | 2017-09-27 | 2018-03-13 | 歌尔科技有限公司 | Determination method and device, projecting apparatus, the optical projection system of user's finger positional information |
| CN108363060A (en) * | 2018-01-19 | 2018-08-03 | 上海思岚科技有限公司 | A kind of dynamic disorder object detecting method and equipment |
| CN108196468A (en) * | 2018-03-26 | 2018-06-22 | 京东方科技集团股份有限公司 | Intelligent home furnishing control method and intelligent domestic system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112629470A (en) * | 2020-12-22 | 2021-04-09 | 石家庄市科恒电子有限公司 | Depth measurement method and depth measurement system |
| CN113156453A (en) * | 2021-04-09 | 2021-07-23 | 武汉联一合立技术有限公司 | Moving object detection method, apparatus, device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109444905B (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106446786B (en) | Fingerprint identification method, fingerprint identification device and terminal device | |
| CN109739223B (en) | Robot obstacle avoidance control method and device, terminal device and storage medium | |
| CN113240936B (en) | Parking area recommendation method and device, electronic equipment and medium | |
| CN109033793A (en) | Slide the man-machine recognition methods of identifying code and device, electronic equipment and readable medium | |
| CN107609056A (en) | A kind of question and answer processing method and equipment based on picture recognition | |
| CN109151337A (en) | Recognition of face light compensation method, recognition of face light compensating apparatus and mobile terminal | |
| CN108961267A (en) | Image processing method, picture processing unit and terminal device | |
| CN109376645A (en) | A kind of face image data preferred method, device and terminal device | |
| CN108648140A (en) | Image split-joint method, system, equipment and storage medium | |
| CN110266994A (en) | Video call method, video call device and terminal | |
| CN109697392A (en) | Draw the method and device of target object thermodynamic chart | |
| CN107944381A (en) | Face tracking method, device, terminal and storage medium | |
| CN109444905A (en) | A kind of dynamic object detection method, device and terminal device based on laser | |
| CN109815854A (en) | It is a kind of for the method and apparatus of the related information of icon to be presented on a user device | |
| CN109657543A (en) | Flow of the people monitoring method, device and terminal device | |
| CN113378790B (en) | Viewpoint positioning method, apparatus, electronic device, and computer-readable storage medium | |
| WO2019125716A1 (en) | System and method for drawing beautification | |
| CN115171222B (en) | Behavior detection method and device, computer equipment and storage medium | |
| CN107272989B (en) | Using starting method, apparatus and terminal device | |
| CN110009100A (en) | The calculation method and Related product of customized operator | |
| CN109858900A (en) | A kind of payment information method for pushing, device and terminal device | |
| CN109544587A (en) | A kind of FIG pull handle method, apparatus and terminal device | |
| CN108776959A (en) | Image processing method, device and terminal device | |
| CN107862010A (en) | A kind of method, device and mobile terminal for obtaining Internet of Things application system information | |
| CN109089040A (en) | Image processing method, image processing apparatus and terminal device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |