CN109963029B - Positioning method and device - Google Patents
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- CN109963029B CN109963029B CN201711414402.6A CN201711414402A CN109963029B CN 109963029 B CN109963029 B CN 109963029B CN 201711414402 A CN201711414402 A CN 201711414402A CN 109963029 B CN109963029 B CN 109963029B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72448—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions
- H04M1/72457—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions according to geographic location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The embodiment of the invention relates to the technical field of positioning, in particular to a positioning method and a positioning device, which are applied to an image acquisition device associated with a vehicle management department system and an operator system, wherein the method comprises the following steps: the method comprises the steps of capturing vehicles passing through a capturing range to obtain vehicle images, obtaining capturing time of the vehicle images, obtaining mobile phone number information corresponding to the vehicle images from a vehicle management department system, obtaining positioning information of a mobile terminal corresponding to the mobile phone number information at the capturing time from an operator system, and obtaining position information of an image acquisition device according to the positioning information. The method can effectively reduce the cost of positioning the image acquisition device.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a positioning method and a positioning device.
Background
In the application of the intelligent transportation industry, the network cameras are gradually distributed in all corners of cities. The position of the existing network camera is usually obtained by manually inputting coordinates into a data system, or installing a positioning module on the network camera to obtain the position of the corresponding network camera through the positioning module.
The inventor researches and discovers that the mode of manually inputting the coordinates consumes a large amount of manpower and material resources and causes the problem of overhigh cost, and the mode of installing the positioning module on the camera has the problem of overhigh cost, so that the two modes have the problem of overhigh positioning cost.
Disclosure of Invention
In view of the above, the present invention provides a positioning method and apparatus, which are applied to an image capturing device to effectively reduce the cost of positioning the image capturing device.
The preferred embodiment of the present invention provides a positioning method, which is applied to an image acquisition device, wherein the image acquisition device is associated with a vehicle management department system and an operator system, and the method comprises the following steps:
capturing a passing vehicle in a capturing range to obtain a vehicle image, and acquiring capturing time for capturing the vehicle image;
acquiring mobile phone number information corresponding to the vehicle image from the vehicle management station system, and acquiring positioning information of a mobile terminal corresponding to the mobile phone number information at a snapshot time from the operator system;
and obtaining the position information of the image acquisition device according to the positioning information.
Optionally, in the above positioning method, a preset area is stored in the image capturing device, the number of vehicle images is multiple, the number of positioning information is multiple, and the step of obtaining the position information of the image capturing device according to the positioning information includes:
filtering positioning information which is not in the preset area range in the plurality of positioning information to obtain a plurality of area positioning information in the preset area range;
filtering the plurality of area positioning information by adopting a preset algorithm to obtain a plurality of center positioning information;
and obtaining the position information of the image acquisition device according to the plurality of pieces of central positioning information.
Optionally, in the positioning method, the step of filtering the plurality of area positioning information by using a preset algorithm to obtain a plurality of center positioning information includes:
calculating the plurality of area positioning information to obtain first central position information;
taking the maximum value of the distances from the plurality of area positioning information to the first center position information as a first distance value, and obtaining a second distance value according to a preset relaxation variable and the first distance value;
acquiring a plurality of first positioning information within a first range by taking the first central position information as a circle center and a second distance value as a radius;
judging whether the ratio of the number of the first positioning information to the number of the area positioning information is smaller than a set value or not, and if so, taking each first positioning information as central positioning information;
and if so, taking each piece of first positioning information as the area positioning information, returning to execute the step of calculating the plurality of pieces of area positioning information to obtain first central position information, and taking each piece of newly obtained first positioning information as the central positioning information until the ratio of the number of the plurality of newly obtained first positioning information to the number of the plurality of area positioning information is smaller than the set value.
Optionally, in the above positioning method, the image capturing device stores a preset snapshot distance, and after the step of obtaining the positioning information of the mobile terminal corresponding to the mobile phone number information at the snapshot time from the operator system is executed, the method further includes:
acquiring positioning information of a preset duration before or after the snapshot time of the mobile terminal corresponding to the mobile phone number information from the operator system to obtain a positioning information set;
the step of obtaining the position information of the image acquisition device according to the plurality of pieces of center positioning information comprises:
acquiring positioning information with preset time before or after the snapshot time corresponding to each piece of central positioning information from the positioning information set, obtaining motion vectors of corresponding vehicles according to each piece of central positioning information and the positioning information with the preset time before or after the snapshot time corresponding to each piece of central positioning information, and superposing each motion vector to obtain a correction vector;
calculating the plurality of pieces of center positioning information to obtain center point positioning information;
and obtaining the position information of the image acquisition device according to the central point positioning information, the correction vector and the snapshot distance.
Optionally, in the positioning method, the step of obtaining the mobile phone number information corresponding to the vehicle image from the vehicle management system includes:
obtaining corresponding vehicle information according to the vehicle image;
and acquiring mobile phone number information corresponding to the vehicle information from the vehicle management system.
The invention also provides a positioning device, which is applied to an image acquisition device, wherein the image acquisition device is associated with a vehicle management system and an operator system, and the device comprises:
the snapshot module is used for snapshotting vehicles passing through the snapshot range to obtain vehicle images and acquiring snapshot moments of the vehicle images;
the positioning information acquisition module is used for acquiring mobile phone number information corresponding to the vehicle image from the vehicle management station system and acquiring positioning information of the mobile terminal corresponding to the mobile phone number information at the snapshot time from the operator system;
and the position information generating module is used for obtaining the position information of the image acquisition device according to the positioning information.
Optionally, in the above positioning device, a preset area is stored in the image capturing device, the number of the vehicle images is multiple, the number of the positioning information is multiple, and the position information generating module includes:
the first filtering submodule is used for filtering positioning information which is not in the preset area range in the plurality of positioning information to obtain a plurality of area positioning information in the preset area range;
the second filtering submodule is used for filtering the plurality of area positioning information by adopting a preset algorithm to obtain a plurality of center positioning information;
and the position information generating submodule is used for obtaining the position information of the image acquisition device according to the plurality of pieces of central positioning information.
Optionally, in the above positioning apparatus, the second filtering submodule includes:
the calculation unit is used for calculating the plurality of area positioning information to obtain first central position information;
an information obtaining unit, configured to obtain a plurality of pieces of first positioning information within a first range, where the first center position information is used as a center of a circle and a second distance value is used as a radius;
the judging unit is used for judging whether the ratio of the number of the plurality of first positioning information to the number of the plurality of area positioning information is smaller than a set value, if so, the first positioning information is used as central positioning information, if so, the first positioning information is used as the area positioning information, and the calculating unit is triggered to calculate the plurality of area positioning information to obtain first central positioning information.
Optionally, in the positioning device, a preset snapshot distance is stored in the image acquisition device;
the positioning information acquisition module is further configured to acquire positioning information of a preset duration before or after the snapshot time of the mobile terminal corresponding to the mobile phone number information from the operator system to obtain a positioning information set;
the position information generation submodule includes:
the vector generation unit is used for acquiring positioning information with preset duration before or after the snapshot time corresponding to each piece of central positioning information from the positioning information set, obtaining a motion vector of a corresponding vehicle according to each piece of central positioning information and the positioning information with the preset duration before or after the snapshot time corresponding to each piece of central positioning information, and superposing each motion vector to obtain a correction vector;
the positioning information generating unit is used for calculating the plurality of pieces of central positioning information to obtain central point positioning information;
and the position information generating unit is used for obtaining the position information of the image acquisition device according to the central point positioning information, the correction vector and the snapshot distance.
Optionally, in the above positioning apparatus, the positioning information obtaining module includes:
the first information acquisition submodule is used for acquiring corresponding vehicle information according to the vehicle image;
and the second information acquisition submodule is used for acquiring the mobile phone number information corresponding to the vehicle information from the vehicle management station system.
The embodiment of the invention provides a positioning method and a positioning device, which are applied to an image acquisition device associated with a vehicle management department system and an operator system, through capturing the passing vehicles in the capturing range to obtain vehicle images and capturing time for capturing the vehicle images, and the mobile phone number information corresponding to the vehicle image is acquired from the vehicle management system, the positioning information of the mobile terminal corresponding to the mobile phone number information at the snapshot time is acquired from the operator system, the position information of the image acquisition device is obtained according to the positioning information, no additional positioning module is needed, and no manual statistics mode is needed to position the image acquisition device, so as to effectively avoid the problem of overhigh cost caused by manually inputting the position information of the image acquisition device, and the problem of overhigh cost caused by installing a positioning module in the image acquisition device is avoided.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a connection block diagram of an image capturing device according to an embodiment of the present invention.
Fig. 2 is a schematic flowchart of a positioning method according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of step S120 in fig. 2.
Fig. 4 is a schematic diagram of step S130 in fig. 2.
Fig. 5 is a schematic diagram of step S134 in fig. 4.
Fig. 6 is a schematic diagram of step S136 in fig. 4.
Fig. 7 is a schematic diagram of a filtering effect according to an embodiment of the present invention.
Fig. 8 is a positional relationship diagram provided by the present invention.
Fig. 9 is a connection block diagram of a positioning apparatus according to an embodiment of the present invention.
Fig. 10 is a connection block diagram of a positioning information obtaining module according to an embodiment of the present invention.
Fig. 11 is a connection block diagram of a location information generating module according to an embodiment of the present invention.
Fig. 12 is a connection block diagram of a second filtering submodule according to an embodiment of the present invention.
Fig. 13 is a connection block diagram of a location information generation sub-module according to an embodiment of the present invention.
Icon: 10-an image acquisition device; 12-a memory; 14-a processor; 16-a communication module; 100-a positioning device; 110-a snapshot module; 120-a positioning information acquisition module; 122-a first information acquisition submodule; 124-a second information acquisition submodule; 130-a location information generating module; 132-a first filtering submodule; 134-a second filtering submodule; 134 a-a calculation unit; 134 b-a distance generation unit; 134 c-information acquisition unit; 134 d-judgment unit; 136-a location information generation submodule; 136 a-a vector generation unit; 136 b-a positioning information generating unit; 136 c-location information generation unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a block diagram of an image capturing device 10 according to a preferred embodiment of the present invention, the image capturing device 10 is associated with a vehicle management system and an operator system, and the image capturing device 10 includes a memory 12, a processor 14 and a communication module 16.
The memory 12, processor 14 and communication module 16 are electrically connected to each other, directly or indirectly, to enable the transfer or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 12 stores software functional modules stored in the memory 12 in the form of software or Firmware (Firmware), and the processor 14 executes various functional applications and data processing by running software programs and modules stored in the memory 12, such as the positioning apparatus 100 in the embodiment of the present invention, so as to implement the positioning method in the embodiment of the present invention.
In the present embodiment, the image capturing apparatus 10 is referred to as having image and video capturing functions and data processing capabilities. The image capturing device 10 may be a camera, etc., wherein the camera may be a pan-tilt camera, a dome camera, a web camera, etc., and is not limited in particular.
The Memory 12 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The memory 12 is used for storing programs, for example, functional modules corresponding to the positioning apparatus 100 provided by the present invention, and the functional modules can be executed by the processor 14 for the purpose of positioning the image capturing apparatus 10.
The communication module 16 is configured to establish a communication connection between the vehicle management system and the operator system via a network, and to transmit and receive data via the network.
It will be appreciated that the configuration shown in fig. 1 is merely illustrative and that image capture device 10 may include more or fewer components than shown in fig. 1 or may have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 2, the present invention provides a positioning method, which is applied to the image capturing device 10, and the method includes three steps S110 to S130.
Step S110: and capturing the passing vehicle in the capturing range to obtain a vehicle image, and acquiring the capturing moment of capturing the vehicle image.
The vehicle image may be one or more, and the vehicle passing through the capturing range may be one or more, which is not limited herein. When the number of the vehicle images is multiple, the multiple vehicle images may be captured at different times for the same vehicle, or captured for different vehicles, which is not specifically limited herein.
Step S120: and acquiring mobile phone number information corresponding to the vehicle image from the vehicle management system, and acquiring positioning information of the mobile terminal corresponding to the mobile phone number information at the snapshot time from the operator system.
The system of the vehicle management department is stored with pre-stored vehicle images and/or vehicle information of each vehicle, and the system of the vehicle management department is also pre-stored with user information and the like of the vehicle corresponding to each pre-stored vehicle image or vehicle information, wherein the vehicle information comprises license plate information, the vehicle information can also comprise color information, model information, category information and the like, and the user information comprises mobile phone number information, name information and the like of a user. And the operator system stores the positioning information of the mobile terminal corresponding to each mobile phone number information at different moments.
The manner of acquiring the mobile phone number information corresponding to the vehicle image from the vehicle management station system may be: acquiring a pre-stored vehicle image matched with the vehicle image from the vehicle management station system, and acquiring a mobile phone number included in corresponding user information according to the pre-stored vehicle image; or obtaining vehicle information according to the vehicle image captured by the image device, and obtaining mobile phone number information included in the user information corresponding to the vehicle information from the vehicle management station according to the vehicle information. The method is not particularly limited, and may be set according to actual requirements.
Referring to fig. 3, in this embodiment, the step of obtaining the mobile phone number information corresponding to the vehicle image from the vehicle management system includes:
step S122: and obtaining corresponding vehicle information according to the vehicle image.
Step S124: and acquiring mobile phone number information corresponding to the vehicle information from the vehicle management system.
The manner of obtaining the corresponding vehicle information according to the vehicle image may be that the vehicle image is analyzed and identified to obtain the vehicle information, and the vehicle information includes license plate number information, category information, and/or model information. And when the vehicle information is license plate number information, acquiring mobile phone number information corresponding to the license plate number information from the vehicle management system.
Step S130: and obtaining the position information of the image acquisition device 10 according to the positioning information.
When the number of the positioning information is multiple, the position information of the image acquisition device 10 is obtained according to each of the positioning information, and when the number of the positioning information is one, the positioning information of the image acquisition device 10 is obtained according to the positioning information, which is not specifically limited herein, and is selected according to actual requirements.
By the method, the problem of overhigh cost caused by manually counting the position of the image acquisition device 10 and the problem of overhigh cost caused by installing the positioning module in the image acquisition device 10 are effectively avoided. In addition, with the increasing popularization rate of the mobile terminal and the better navigation and positioning functions of the mobile terminal, the accuracy of the position of the image acquisition device 10 obtained according to the positioning information can be effectively guaranteed by obtaining the positioning information of the mobile terminal corresponding to the mobile phone number information from the operator system.
Since the user driving the vehicle may not be the user to which the mobile phone number information corresponding to the vehicle image belongs, there may be a case where the distance between the position of the image capturing device 10 and the position corresponding to the positioning information is too large, so that a large error exists in the position information obtained according to the positioning information.
In order to avoid the situation of large errors when obtaining the image acquisition device 10 according to the positioning information. Referring to fig. 4, optionally, in this embodiment, a preset area is stored in the image capturing device 10, the number of the vehicle images is multiple, the number of the positioning information is multiple, and the step of obtaining the position information of the image capturing device 10 according to the positioning information includes three steps of step S132 to step S136.
Step S132: and filtering the positioning information which is not in the preset area range in the plurality of positioning information to obtain a plurality of area positioning information in the preset area range.
The preset area may be a city area, a town area, or a street area where the image capturing device 10 is located, and may be selected according to actual needs, which is not specifically limited herein. By filtering the positioning information which is not in the preset area range from the plurality of positioning information, the situation of overlarge error caused when the position information of the image acquisition device 10 is obtained according to each positioning information is effectively avoided. The number of the plurality of vehicle images may be, but is not limited to, 200, 400, 500, etc., and is not particularly limited thereto.
Step S134: and filtering the plurality of area positioning information by adopting a preset algorithm to obtain a plurality of center positioning information.
The preset algorithm may be, but is not limited to, an average algorithm, a median algorithm, a clustering algorithm, or a center point algorithm, and is not limited specifically herein. The positioning information with larger error is further filtered through the steps.
Referring to fig. 5, optionally, in the embodiment, the step of filtering the plurality of area positioning information by using a preset algorithm to obtain a plurality of center positioning information includes three steps, i.e., step S134a, step S134b, and step S134 c.
Step S134 a: and calculating the plurality of area positioning information to obtain first center position information.
The manner of calculating the multiple area locations to obtain the first center position information may be to obtain the first center position information by using an averaging calculation method for the multiple area location information, or obtain the first center position information by using a median calculation method for the multiple area location information, which is not limited specifically herein.
Step S134 b: and taking the maximum value of the distances from the plurality of area positioning information to the first center position information as a first distance value, and obtaining a second distance value according to a preset relaxation variable and the first distance value.
The preset relaxation variable is any value between more than 0 and less than 1, and for example, the preset relaxation variable may be 0.8, 0.7, or 0.5, and the like, which is not specifically limited herein, and may be set according to actual requirements.
Step S134 c: and acquiring a plurality of first positioning information within a first range by taking the first center position information as a circle center and a second distance value as a radius.
Step S134 d: and judging whether the ratio of the number of the first positioning information to the number of the area positioning information is smaller than a set value.
If yes, go to step S134 e: and taking each piece of first positioning information as central positioning information.
If yes, go to step S134 f: and taking each piece of the first positioning information as the area positioning information, returning to execute the step S134a, and calculating the plurality of pieces of area positioning information to obtain first center position information until the ratio of the number of the plurality of pieces of the first positioning information obtained again to the number of the plurality of pieces of the area positioning information is smaller than the set value, and taking each piece of the first positioning information obtained again as the center positioning information.
The set value may be any value or a value obtained from the relaxation variable. Optionally, in this embodiment, the set value is a value obtained according to the slack variable, for example, when the slack variable is 0.7, the set value is also 0.7. Through the setting, the positioning information with errors in the area positioning information is effectively filtered, and the center positioning information is obtained.
Step S136: and obtaining the position information of the image acquisition device 10 according to the plurality of central positioning information.
The position information of the image acquisition device 10 is obtained through a plurality of pieces of center positioning information obtained according to the positioning information with errors in the filtered area positioning information, so that the accuracy of the position information is effectively guaranteed.
In the prior art, there is usually a distance between the location where the vehicle is being snapped and the image acquisition device 10 for engineering implementation reasons. Therefore, optionally, in this embodiment, a preset capturing distance is stored in the image capturing device 10, and the step of obtaining the position information of the image capturing device 10 according to the plurality of pieces of center positioning information includes: and calculating the mean value or the median value of the plurality of pieces of central positioning information to obtain central point positioning information, and obtaining the position information of the image acquisition device 10 according to the central point positioning information and the preset snapshot distance.
The image capturing device 10 may be installed at a straight road section, an intersection, or the like, and therefore the capturing range of the image capturing device 10 is a circle where the position of the image capturing device 10 is a circle and the capturing distance is a circle where a radius is located, so as to capture vehicle images when the vehicle travels in different directions.
In order to further ensure the accuracy of the location information, optionally, in this embodiment, after the step of obtaining the location information of the mobile terminal corresponding to the mobile phone number information at the snapshot time from the operator system is executed, the method further includes:
and acquiring positioning information of a preset time length before or after the snapshot time of the mobile terminal corresponding to the mobile phone number information from the operator system to obtain a positioning information set.
The preset time length may be one second, two seconds or one minute, and is not specifically limited herein, and may be set according to actual requirements, and is not specifically limited herein.
Referring to fig. 6, optionally, in the present embodiment, the step of obtaining the position information of the image capturing device 10 according to the plurality of pieces of centering information includes step S136a, step S136b, and step S136 c.
Step S136 a: and acquiring positioning information with preset duration before or after the snapshot time corresponding to each piece of central positioning information from the positioning information set, acquiring motion vectors of corresponding vehicles according to each piece of central positioning information and the positioning information with the preset duration before or after the snapshot time corresponding to each piece of central positioning information, and superposing each motion vector to obtain a correction vector.
Specifically, for each piece of central positioning information, positioning information with preset duration before or after the snapshot time corresponding to the central positioning information is obtained from the positioning information and the positioning information, and a motion vector of a vehicle corresponding to the central positioning information is obtained according to the central positioning information and the positioning information with the preset duration before or after the snapshot time corresponding to the central positioning information; and superposing the motion vectors of the vehicles corresponding to the central positioning information to obtain a correction vector.
Step S136 b: and calculating the plurality of pieces of central positioning information to obtain central point positioning information.
The mode of calculating the plurality of central positioning information to obtain the central positioning information may be to obtain a mean value of the plurality of central positioning information to obtain the central positioning information, or to obtain a median value of the central positioning information to obtain the central positioning information, which is not specifically limited herein and may be selected according to actual requirements.
Step S136 c: and obtaining the position information of the image acquisition device 10 according to the central point positioning information, the correction vector and the snapshot distance.
The position information of the image acquisition device 10 is obtained according to the center point positioning information, the correction vector and the snapshot distance, and the correction vector is multiplied by the snapshot distance and then superimposed on the center point positioning information to obtain the position information of the image acquisition device 10.
The correction vector is multiplied by the snapshot distance to obtain the direction of the center point positioning information relative to the image acquisition device 10 and the distance in the direction, and the product and the center point position information are superimposed to obtain the position information of the image acquisition device 10. Through the arrangement, the accuracy of the position information of the image acquisition device 10 is further guaranteed.
Referring to fig. 7 and 8, taking as an example that the number of captured vehicle images is multiple and the number of corresponding obtained positioning information is multiple, filtering positioning information that is not within the preset area range in the multiple positioning information to obtain multiple area positioning information that is within the preset area range, and filtering the multiple area positioning information by using a preset algorithm to obtain multiple center positioning information, the implementation process of the method includes: when the GPS coordinate range of the preset area is S (a, b), N (c, d), filtering out the positioning information that is not within the preset area range, so that the positioning information W1 and W2 that is outside the preset area range will be filtered to obtain a plurality of area positioning information that are within the preset area range, averaging the plurality of area positioning information to obtain first center position information, taking a maximum value of a distance to the first center position information in the plurality of area positioning information as a first distance value, multiplying a preset relaxation variable by the first distance value to obtain a second distance value, obtaining a plurality of first positioning information within the first range that is obtained with the first center position information as a center and the second distance value as a radius, and determining whether a ratio of the number of the plurality of first positioning information to the number of the plurality of area positioning information is less than a set value, if the first positioning information is smaller than the second positioning information, taking each piece of first positioning information as central positioning information; and if so, taking each piece of first positioning information as the area positioning information, returning to execute the step of calculating the plurality of pieces of area positioning information to obtain first central position information, and taking each piece of newly obtained first positioning information as the central positioning information until the ratio of the number of the plurality of newly obtained first positioning information to the number of the plurality of area positioning information is smaller than the set value. The positioning information with larger errors, such as N1, N2 and N3 in fig. 7, is filtered by the above arrangement.
After filtering the plurality of area positioning information by adopting a preset algorithm to obtain a plurality of central positioning information, obtaining an average value of each central positioning information to obtain central point positioning information (x, y), obtaining positioning information with preset duration before or after the snapshot time corresponding to each central positioning information from the positioning information set, obtaining motion vectors of corresponding vehicles according to each central positioning information and the positioning information with preset duration before or after the snapshot time corresponding to each central positioning information, and superposing each motion vector to obtain a correction vector (x, y)1，y1) The correction vector is multiplied by the snapshot distance L and then added to the center point positioning information to obtain the position information (x + x) of the image capturing apparatus 101*L，y+y1L). By the method, the positioning error of the image acquisition device 10 is effectively relieved, and the cost for positioning the image acquisition device 10 is effectively reduced.
Referring to fig. 9, the present invention further provides a positioning apparatus 100, where the image capturing apparatus 10 is associated with a vehicle management department system and an operator system, and the positioning apparatus 100 includes a capturing module 110, a positioning information obtaining module 120, and a position information generating module 130.
The snapshot module 110 is configured to snapshot a vehicle passing through within a snapshot range to obtain a vehicle image, and acquire a snapshot time of the vehicle image. Specifically, the snapshot module 110 may be configured to execute step S110 shown in fig. 2, and the detailed description of step S110 may be referred to for a specific operation method.
The positioning information obtaining module 120 is configured to obtain, from the vehicle management station system, mobile phone number information corresponding to the vehicle image, and obtain, from the operator system, positioning information of the mobile terminal corresponding to the mobile phone number information at the snapshot time. Specifically, the positioning information obtaining module 120 may be configured to execute step S120 shown in fig. 2, and the detailed description of step S120 may be referred to for a specific operation method.
Referring to fig. 10, optionally, in this embodiment, the positioning information obtaining module 120 includes: a first information acquisition sub-module 122 and a second information acquisition sub-module 124.
The first information obtaining sub-module 122 is configured to obtain corresponding vehicle information according to the vehicle image. Specifically, the first information obtaining sub-module 122 may be configured to perform step S122 shown in fig. 3, and a detailed description of the step S124 may be referred to for a specific operation method.
The second information obtaining sub-module 124 is configured to obtain, from the vehicle management station system, mobile phone number information corresponding to the vehicle information. Specifically, the second information obtaining sub-module 124 may be configured to perform step S124 shown in fig. 3, and the detailed description of step S124 may be referred to for a specific operation method.
The position information generating module 130 is configured to obtain position information of the image capturing apparatus 10 according to the positioning information. Specifically, the location information generating module 130 may be configured to execute step S130 shown in fig. 2, and a detailed description of step S130 may be referred to for a specific operation method.
Referring to fig. 11, optionally, in this embodiment, a preset area is stored in the image capturing device 10, the number of the vehicle images is multiple, the number of the positioning information is multiple, and the position information generating module 130 includes: a first filtering submodule 132, a second filtering submodule 134, and a location information generating submodule 136.
The first filtering sub-module 132 is configured to filter, out of the plurality of positioning information, positioning information that is not within the preset area range, so as to obtain a plurality of area positioning information that is within the preset area range. Specifically, the first filtering submodule 132 may be configured to perform step S132 shown in fig. 4, and a detailed operation method may refer to a detailed description of step S132.
The second filtering submodule 134 is configured to filter the multiple area positioning information by using a preset algorithm to obtain multiple center positioning information; specifically, the second filtering submodule 134 may be configured to execute step S134 shown in fig. 4, and a detailed description of the step S134 may be referred to for a specific operation method.
Referring to fig. 12, optionally, in this embodiment, the second filtering submodule 134 includes: a calculation unit 134a, a distance generation unit 134b, an information acquisition unit 134c, and a determination unit 134 d.
The calculating unit 134a is configured to calculate the plurality of area positioning information to obtain first center position information. Specifically, the calculating unit 134a may be used to execute step S134a shown in fig. 5, and the detailed operation method may refer to the detailed description of step S134 a.
The distance generating unit 134b is configured to use a maximum value of distances from the plurality of area positioning information to the first center position information as a first distance value, and obtain a second distance value according to a preset slack variable and the first distance value. Specifically, the distance generating unit 134b may be used to execute step S134b shown in fig. 5, and a specific operation method may refer to the detailed description of step S134 b.
The information obtaining unit 134c is configured to obtain a plurality of first positioning information within a first range, where the first center position information is used as a center of a circle and a second distance value is used as a radius. Specifically, the information obtaining unit 134c may be configured to execute step S134c shown in fig. 5, and the detailed operation method may refer to the detailed description of step S134 c.
The determining unit 134d is configured to determine whether a ratio of the number of the first positioning information to the number of the area positioning information is smaller than a set value. Specifically, the judging unit 134d may be configured to execute step S134d shown in fig. 5, and the detailed operation method may refer to the detailed description of step S134 d.
If the ratio of the number of the plurality of first positioning information to the number of the plurality of area positioning information is smaller than a set value, each piece of first positioning information is used as center positioning information, and if the ratio of the number of the plurality of first positioning information to the number of the plurality of area positioning information is larger than the set value, each piece of first positioning information is used as the area positioning information, and the calculating unit 134a is triggered to perform calculation on the plurality of area positioning information to obtain first center position information.
The position information generating sub-module 136 is configured to obtain the position information of the image capturing apparatus 10 according to the plurality of center positioning information. Specifically, the location information generating sub-module 136 may be configured to execute step S136 shown in fig. 4, and the detailed description of step S136 may be referred to for a specific operation method.
Optionally, in this embodiment, a preset snapshot distance is stored in the image acquisition device 10, and the positioning information acquisition module 120 is further configured to acquire, from the operator system, positioning information of a preset duration before or after the snapshot time of the mobile terminal corresponding to the mobile phone number information, so as to obtain a positioning information set.
Referring to fig. 13, optionally, in this embodiment, the position information generating sub-module 136 includes: vector generation unit 136a, positioning information generation unit 136b, and position information generation unit 136 c.
The vector generating unit 136a is configured to obtain, from the positioning information set, positioning information of a preset duration before or after the snapshot time corresponding to each piece of the center positioning information, obtain a motion vector of a corresponding vehicle according to each piece of the center positioning information and the positioning information of the preset duration before or after the snapshot time corresponding to each piece of the center positioning information, and superimpose each of the motion vectors to obtain a correction vector. Specifically, the vector generation unit 136a may be configured to execute step S136a shown in fig. 6, and a specific operation method may refer to the detailed description of step S136 a.
The positioning information generating unit 136b is configured to calculate the plurality of central positioning information to obtain central point positioning information. Specifically, the positioning information generating unit 136b may be configured to execute step S136b shown in fig. 6, and the detailed description of the step S136b may be referred to for a specific operation method.
The position information generating unit 136c is configured to obtain position information of the image capturing apparatus 10 according to the central point positioning information, the correction vector, and the capturing distance. Specifically, the position information generating unit 136c may be configured to execute step S136c shown in fig. 6, and a specific operation method may refer to the detailed description of step S136 c.
In summary, the positioning method and apparatus provided by the present invention are applied to an image collecting apparatus 10 associated with a vehicle management system and an operator system, and the method comprises capturing a vehicle passing through a capturing range to obtain a vehicle image and capturing time of the vehicle image, acquiring mobile phone number information corresponding to the vehicle image from the vehicle management system, acquiring positioning information of a mobile terminal corresponding to the mobile phone number information at the capturing time from the operator system, and obtaining position information of the image collecting apparatus 10 according to the positioning information, so as to realize that when the image collecting apparatus 10 is positioned, a positioning module does not need to be arranged in the image collecting apparatus 10, and the image collecting apparatus 10 does not need to be positioned by adopting a manual statistics manner, thereby effectively avoiding the problem of high cost caused by adopting manual position information input, and avoids the problem of excessive cost caused by installing a positioning module in the image acquisition device 10.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. A positioning method is applied to an image acquisition device, and is characterized in that the image acquisition device is associated with a vehicle management system and an operator system, and the method comprises the following steps:
capturing a passing vehicle in a capturing range to obtain a vehicle image, and acquiring capturing time for capturing the vehicle image;
obtaining corresponding vehicle information according to the vehicle image, obtaining mobile phone number information corresponding to the vehicle information from a vehicle management department system, and obtaining positioning information of a mobile terminal corresponding to the mobile phone number information at a snapshot time from an operator system;
and obtaining the position information of the image acquisition device according to the positioning information.
2. The method according to claim 1, wherein the image capturing device stores a predetermined area, the vehicle image is a plurality of images, the positioning information is a plurality of images, and the step of obtaining the position information of the image capturing device according to the positioning information comprises:
filtering positioning information which is not in the preset area range in the plurality of positioning information to obtain a plurality of area positioning information in the preset area range;
filtering the plurality of area positioning information by adopting a preset algorithm to obtain a plurality of center positioning information;
and obtaining the position information of the image acquisition device according to the plurality of pieces of central positioning information.
3. The method according to claim 2, wherein the step of filtering the plurality of area positioning information by using a predetermined algorithm to obtain a plurality of center positioning information comprises:
calculating the plurality of area positioning information to obtain first central position information;
taking the maximum value of the distances from the plurality of area positioning information to the first center position information as a first distance value, and obtaining a second distance value according to a preset relaxation variable and the first distance value;
acquiring a plurality of first positioning information within a first range by taking the first central position information as a circle center and a second distance value as a radius;
judging whether the ratio of the number of the first positioning information to the number of the area positioning information is smaller than a set value or not, and if so, taking each first positioning information as central positioning information;
and if so, taking each piece of first positioning information as the area positioning information, returning to execute the step of calculating the plurality of pieces of area positioning information to obtain first central position information, and taking each piece of newly obtained first positioning information as the central positioning information until the ratio of the number of the plurality of newly obtained first positioning information to the number of the plurality of area positioning information is smaller than the set value.
4. The method according to claim 2, wherein the image capturing device stores a preset capturing distance, and after the step of obtaining the positioning information of the mobile terminal corresponding to the mobile phone number information at the capturing time from the operator system is executed, the method further comprises:
acquiring positioning information of a preset duration before or after the snapshot time of the mobile terminal corresponding to the mobile phone number information from the operator system to obtain a positioning information set;
the step of obtaining the position information of the image acquisition device according to the plurality of pieces of center positioning information comprises:
acquiring positioning information with preset time before or after the snapshot time corresponding to each piece of central positioning information from the positioning information set, obtaining motion vectors of corresponding vehicles according to each piece of central positioning information and the positioning information with the preset time before or after the snapshot time corresponding to each piece of central positioning information, and superposing each motion vector to obtain a correction vector;
calculating the plurality of pieces of center positioning information to obtain center point positioning information;
and obtaining the position information of the image acquisition device according to the central point positioning information, the correction vector and the snapshot distance.
5. A positioning device applied to an image acquisition device, wherein the image acquisition device is associated with a vehicle management system and an operator system, and the device comprises:
the snapshot module is used for snapshotting vehicles passing through the snapshot range to obtain vehicle images and acquiring snapshot moments of the vehicle images;
the positioning information acquisition module is used for acquiring corresponding vehicle information according to the vehicle image, acquiring mobile phone number information corresponding to the vehicle information from a vehicle management department system, and acquiring positioning information of a mobile terminal corresponding to the mobile phone number information at a snapshot moment from the operator system;
and the position information generating module is used for obtaining the position information of the image acquisition device according to the positioning information.
6. The positioning device according to claim 5, wherein the image capturing device stores a predetermined area, the vehicle images are plural, the positioning information is plural, and the position information generating module includes:
the first filtering submodule is used for filtering positioning information which is not in the preset area range in the plurality of positioning information to obtain a plurality of area positioning information in the preset area range;
the second filtering submodule is used for filtering the plurality of area positioning information by adopting a preset algorithm to obtain a plurality of center positioning information;
and the position information generating submodule is used for obtaining the position information of the image acquisition device according to the plurality of pieces of central positioning information.
7. The positioning device of claim 6, wherein the second filter submodule comprises:
the calculation unit is used for calculating the plurality of area positioning information to obtain first central position information;
an information obtaining unit, configured to obtain a plurality of pieces of first positioning information within a first range, where the first center position information is used as a center of a circle and a second distance value is used as a radius;
the judging unit is used for judging whether the ratio of the number of the plurality of first positioning information to the number of the plurality of area positioning information is smaller than a set value, if so, the first positioning information is used as central positioning information, if so, the first positioning information is used as the area positioning information, and the calculating unit is triggered to calculate the plurality of area positioning information to obtain first central positioning information.
8. The positioning device according to claim 7, wherein a preset capturing distance is stored in the image acquisition device;
the positioning information acquisition module is further configured to acquire positioning information of a preset duration before or after the snapshot time of the mobile terminal corresponding to the mobile phone number information from the operator system to obtain a positioning information set;
the position information generation submodule includes:
the vector generation unit is used for acquiring positioning information with preset duration before or after the snapshot time corresponding to each piece of central positioning information from the positioning information set, obtaining a motion vector of a corresponding vehicle according to each piece of central positioning information and the positioning information with the preset duration before or after the snapshot time corresponding to each piece of central positioning information, and superposing each motion vector to obtain a correction vector;
the positioning information generating unit is used for calculating the plurality of pieces of central positioning information to obtain central point positioning information;
and the position information generating unit is used for obtaining the position information of the image acquisition device according to the central point positioning information, the correction vector and the snapshot distance.
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