CN110109455A - A kind of Target Tracking System based on ACF converging channels feature - Google Patents
A kind of Target Tracking System based on ACF converging channels feature Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The present invention relates to the Intelligent transportation devices voluntarily led the way, and disclose a kind of Target Tracking System based on ACF converging channels feature.The function that the system should have mainly includes that can identify and track holder always, has avoiding barrier and calculates the ability of optimal path, can sound an alarm automatically when with holder's distance farther out, position can be sent when going astray from the group to holder.Intelligent transportation device is equipped with power switch, and device is started to work after opening.While Intelligent transportation device can be arranged by the APP on mobile phone and follow still standby mode in automatic for we.When being set as automatically at any time, for user during walking about, device is just in following state.Single-chip microcontroller receive instruction after will driving motor module start to walk, rotatable avoiding obstacles by supersonic wave module is also started to work at the same time, when encountering barrier will feedback information return to single-chip microcontroller, single-chip microcontroller just starts that steering engine module is driven to carry out the variation of control device moving direction to achieve the purpose of obstacle avoidance.
Description
Technical field
The present invention relates to the Intelligent transportation device voluntarily led the way, specially a kind of target based on ACF converging channels feature
Tracking system.
Background technique
In recent years with the big heat of artificial intelligence, the development about intellectual product is to rise in this world.In life we
It was found that the following problem: people is going on business or is travelling, and tosses about always to need to be filled with luggage case on airport, station and other places
Necessity, and these heavy luggage cases are also a no small burden to user；People is past when going shopping mall supermarket to do shopping
Toward the more thing of meeting, oneself can only be carried using Manual-pushing shopping cart, or even in market；In warehouse scene, heavy cargo
Carrying transfer have certain limitation and inconvenience；For some more specifically specific groups, such as blind community, going out
Due to not seeing road conditions when row, there is very big security risk.
Using related knowledge, it can constantly follow you without going astray from the group what even setting destination was voluntarily led the way with one
Intelligent transportation device, after analyzing, the function that we think that device should have is as follows: holder can be identified and tracked always,
With avoiding barrier and the ability of optimal path is calculated, can be sounded an alarm automatically when with holder's distance farther out, when walking
Position can be sent when losing to holder.
Wait place it will be appreciated that being also currently just to start about the research of such product, foreign countries have one online
A R1 tracking baggages of company cowarobot design just have this kind of function and company, intelligence robot, Israel
A kind of Intelligent luggage carrier is developed, it can be connected by bluetooth with the application program on owner's smart phone, still be in now
Blank stage, but this only concept version for putting on display in scientific and technological exhibition, specific product is there is no volume production, moreover, most critical
It is that such following device for occurring on the market is all less radio-frequency class now, radio-frequency unit is worn by user to guide dress
It sets.In the Master's thesis of Li Yuanshuan of South-Center University For Nationalities in 2011, " the intelligent vehicle tracking system based on machine vision is ground
Study carefully with realize " in just have the research and development for referring to following-up type transport device.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of Target Tracking Systems based on ACF converging channels feature, solve
People carries on the arm from carrying for heavy shopping mall supermarket commodity, the dragging of luggage case, articles from the storeroom automatic transporting or even be that blind person goes on a journey pole
Its inconvenient problem can intelligently follow up according to the action of target in real time, and there is distance perception to answer warning function.Project is by ACF
Algorithm of target detection and wireless radio frequency modules combine, the concept product phase with the one-sided less radio-frequency class occurred now
Than, it does not on the one hand need user and wears rest products, on the one hand the two combines and can preferably target be identified and be chased after,
Intelligent transportation device be equipped with power switch, after opening device start to work, while we can by the APP on mobile phone come
Setting Intelligent transportation device is in be followed or standby mode automatically, when being set as automatically at any time, user is in the mistake walked about
Cheng Zhong, device are just in following state.
(2) technical solution
To realize the above-mentioned Intelligent transportation device for being adapted to voluntarily lead the way, specially a kind of mesh based on ACF converging channels feature
Mark tracking system, the invention provides the following technical scheme: single-chip microcontroller receive instruction after will driving motor module start to walk, with
This simultaneously rotatable avoiding obstacles by supersonic wave module is also started to work, when encountering barrier will feedback information return to single-chip microcontroller,
Single-chip microcontroller just starts that steering engine module is driven to carry out the variation of control device moving direction to achieve the purpose of obstacle avoidance.
We identify the direction of target by AFC algorithm inside camera module computer vision herein.At this
In camera be it is rotary, guarantee that target is constantly within the visual field by this rotary camera.And
And control program with ratio to realize the selection of optimal path, a best following distance such as 20cm can be arranged in we, when with
With the distance between device and user be more than this apart from when will follow to keep this apart from constant, the spy of distance here
Survey us is infrared sensor to measure distance.
There is a maximum problem to be how to distinguish follower and barrier here.We are by the detection of infrared sensor
Direction is always consistent with the direction of camera, ensures that the distance of measurement is between user and device in this way
Distance.The case where user is blocked is solved, when user is blocked, loses target.We may be implemented one herein
Fuzzy algorithmic approach, by setting program, we can allow device still can travel according to specific direction in the case where losing target
For a period of time, at the same time, rotary camera independently rotates to find target, if still finding fall short just
It can stop travelling, original place sounds an alarm.By above-mentioned mentality of designing can the intelligence of realization device follow.
In addition to this, we are also intended to the more multi-functional of exploitation APP.When going astray from the group, user can by cell phone application come
The specific location of device is found in positioning, we need to install a GPS module to device here.So for how to realize APP
Carry out control device, we can install a WiFi module on device to realize communication.Incessantly in this way, we can also lead to
Cross the electricity service condition that APP carrys out real-time monitoring device, driving path.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of Target Tracking System based on ACF converging channels feature, have following
The utility model has the advantages that
1. people can be carried on the arm from carrying for heavy shopping mall supermarket commodity after perfect function, the dragging of luggage case, warehouse goods
Object automatic transporting so be blind person trip extremely inconvenience in free.
2. having compared with high real-time, can intelligently be followed up according to the action of target in real time.
3. having distance perception to answer warning function.
4. project combines ACF algorithm of target detection and wireless radio frequency modules, with occur now it is one-sided wireless
The concept product of radio frequency class is compared, and is not on the one hand needed user and is worn rest products, on the one hand the two combination can be better
Target is identified and is tracked.
5. project agrees with the computer vision and artificial intelligence of current big heat, the prior art can be integrated and be utilized
Exploitation.
6. project and mobile terminal, user have good interactivity, the data information of project uploads to total end in real time, and uses
Family can understand the details such as product space, speed, report barrier, remaining capacity by app.
7. the project is portable, modularity is high, the finished product designed can independent realization mobile carrier function, can also
To be organically combined as a module and the existing product in other markets, such as in conjunction with private tutor robot, greatly enhance
The flexibility and protectiveness of private tutor robot.
8. the project derived value is extremely more, after in conjunction with the existing product in market, it will be able to have the function of that intelligence is followed,
New derived product is formed, value is brought.
Detailed description of the invention
Fig. 1 is the total Frame Design figure of system；
Fig. 2 is motor drive module；
Fig. 3 is servo driving module；
Fig. 4 is speed measuring module；
Fig. 5 is shake the head avoidance, range finder module；
Fig. 6 is alarm module；
Fig. 7 is wireless communication module；
Fig. 8 is ratio control block diagram；
Fig. 9 is oriented program flow chart；
Figure 10 is total module synthesis flow chart；
Figure 11 is the presetting user interface map of APP.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, a kind of Target Tracking System based on ACF converging channels feature, it can by the total Frame Design figure of system
Know, system by dsp processor, infrared inductor, ultrasonic distance-measuring sensor, wireless communication system, camera and motor,
Information receives and processing system composition.Since system belongs to real-time tracking class, so in terms of the timeliness of information and accuracy
It is required that very high.
Further, Fig. 2-7 is please referred to, transport device functional module:
1. motor drive module: motor drive module is the driving circuit that single-chip microcontroller is used to control motor, we select herein
The drive circuit in bi-directional module of direct current generator realizes steering a steady course and retreating for control transport device.
2. servo driving module: steering engine is a kind of driver of position (angle) servo, needs angle not suitable for those
The disconnected control system that changes and can keep.At present in high-grade remote-control toy, such as model plane, including model aircraft, submarine model；It is distant
Use commonplace in man-controlled mobile robot.It can be by the PWM wave signal feeding crank degree information of single-chip microcontroller, for controlling
The left and right turn of transport device processed, and can be remained unchanged in specified angle.
3. speed measuring module: in order to enable transport device can be smoothly along road driving, except control front-wheel steer steering engine
In addition, it is also necessary to the speed of various road conditions is controlled, so that transport device will not be due to excessive velocities in zig zag and descending
It overturns.Therefore, transport device instantaneous velocity is detected using Hall sensor, realizes the closed loop feedback control to transport device speed
System, the control panel of transport device can execute the instructions such as given acceleration, deceleration, the brake of software according to road condition change and accordingly,
Desired speed is changed by present speed within the shortest time, so that transport device quick and stable travels.
4. avoidance of shaking the head, range finder module: selecting E18-D80NK type infrared sensor.It is infrared have a pair of of infrared emission with
Reception diode, transmitting tube emit the infrared signal of certain frequency, and reception pipe receives the infrared signal of this frequency, when infrared
When detection direction encounters barrier, infrared signal reflect be received pipe reception, by processing after, pass through digital sensor
Interface is returned to host, and device can use the return signal of infrared waves both to identify the variation of ambient enviroment.Also with this original
Reason, can also be used to the distance between measuring device and user.
5. alarm module: being made of detector, transmission channel and alarm controller three parts.Alarm detector is first is that detection
With the user of wearing radio-frequency apparatus or directly it is identified as at a distance from the user after function whether being greater than safe distance, second is that detecting
Invader's intrusion behavior, is made of electronics and mechanical part.Sensor can then be harmonious with the ultrasonic distance measuring module of front.
6. wireless communication module: device in the process of running, needs and holder communications, the exchange for completing information is total
It enjoys, by the chase experiment for analyzing these information finishing devices.So when designing device needing that wireless communication module is added.
Now with many short-distance wireless communication technologies, such as bluetooth, WIFI, ZigBee, Wireless USB etc..It is intelligent eventually with mobile phone etc.
When end interacts, need to use honeycomb class mould group.
Further, refering to Fig. 8, optimal path program is realized: ratio controls program, when a robot is designed to
Automatically a certain numerical value, such as distance, pressure are maintained, it generally all includes a control system.The system is by passing in the design
Sensor and motor form can be programmed by processor and be made decision to the input of sensor, to control output.Transport is filled
It sets using ratio control algolithm most common in closed-loop control and maintains the distance between itself and target object, the above control loop
So that measured distance is approached target range continuous adjustment motor speed, left and right motor controlled respectively with same control loop,
Transport device will be enable to follow object turning, rotation, improve system reliability.
Further, oriented program is target lock-on first refering to Fig. 9:
Fuzzy denoising, the pretreatment such as mobile image distortion reparation, due to fortune are carried out to the image that camera obtains using opencv
Defeated device is following of carrying out again after people is mobile, the then currently processed movement that approximate can regard the constant lower personage of background as.With
ACF algorithm is trained pedestrian target image, the model after obtaining training, and the good current scene image of previous processed is inputted
Model obtains the pedestrian target in current scene, recycles the feature of user to match the target detected, acquisition makes
The image coordinate of user's target.Its image coordinate is corresponding with realizing method, to obtain user relative to transport device
Direction.
Followed by target direction:
Using opencv according to our installation sites of the camera on transport device, perspective transform is carried out to the image of acquisition,
Transformation parameter is given by experiment measurement.According in previous frame and present frame lock onto target position obtain picture on pixel away from
From obtaining the actual distance between the target of two frames according to perspective transform, while directional information can also be obtained, to the distance of acquisition
It is fast divided by the photographed frame of camera, speed of the people relative to transport device in our available reality.
Further, please referring to Figure 10 is total module synthesis flow chart.
Further, Figure 11 is please referred to, App interaction passes through the wireless WIFI module of esp8266 on transport device, placement
One small-sized router-module is on transport device, and a certain range is covered with WIFI around device, then connects mobile phone
To the address router ip, wireless control code can be automatically generated using network of relation platform, instruction is sent to it, router connects
Data command is sent to microcontroller serial port after receiving mobile terminal instruction, realizes control.Then being made with Java (Android) can
Carry out the interactive interface and realize that logical protocol data use standard criterion that simple control and transport device real time information are shown.I
Wish that the speed of transport device, position and battery capacity on map can be monitored in real time by mobile terminals such as mobile phones
Situations such as, can use the app control of mobile phone terminal, transport device is standby and operating status.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of Target Tracking System based on ACF converging channels feature, it is characterised in that: Intelligent transportation device is equipped with power supply
Switch, device is started to work after opening, while Intelligent transportation device can be arranged by the APP on mobile phone and be in certainly for we
It is dynamic to follow or standby mode, when being set as automatically at any time, during walking about, device is just in and follows shape user
State；Can identify and track holder always, with avoiding barrier and calculate the ability of optimal path, when with holder away from
From farther out when can sound an alarm automatically, position can be sent when going astray from the group to holder.
2. a kind of Target Tracking System based on ACF converging channels feature according to claim 1, it is characterised in that: single
Piece machine receive instruction after will driving motor module start to walk, rotatable avoiding obstacles by supersonic wave module also starts work at the same time
Make, when encountering barrier will feedback information return to single-chip microcontroller, single-chip microcontroller just starts that steering engine module is driven to carry out control device shifting
Dynamic direction change achieves the purpose of obstacle avoidance.
3. a kind of Target Tracking System based on ACF converging channels feature according to claim 1, it is characterised in that: logical
Camera module computer vision the inside AFC algorithm is crossed to identify the direction of target, camera herein is can to rotate
, guarantee that target is constantly within the visual field by this rotary camera, and control program with ratio come real
The selection of existing optimal path, a best following distance such as 20cm can be arranged in we, when between following device and user
Distance be more than this apart from when will follow to keep this apart from constant, the detection of distance here we be infrared sensing
Device measures distance.
4. a kind of Target Tracking System based on ACF converging channels feature according to claim 1, it is characterised in that: area
Point follower and barrier, are consistent the detection direction of infrared sensor always with the direction of camera, thus can be with
The distance for guaranteeing measurement is the distance between user and device；When user is blocked, target is lost, by realizing one
A fuzzy algorithmic approach solves the case where user is blocked, and by setting program, we can allow device in the case where losing target
Still a period of time can be travelled according to specific direction, at the same time, rotary camera independently rotates to find target,
It will stop travelling if still finding fall short, original place sounds an alarm, and can realize dress by above-mentioned mentality of designing
The intelligence set follows.
5. a kind of Target Tracking System based on ACF converging channels feature according to claim 1, it is characterised in that: item
People can be carried on the arm from carrying for heavy shopping mall supermarket commodity after mesh perfect in shape and function, the dragging of luggage case, articles from the storeroom are removed automatically
Transport so be blind person trip extremely inconvenience in free；It, can be in real time according to the action of target come intelligence with compared with high real-time
It can follow-up；Warning function is answered with distance perception.
6. a kind of Target Tracking System based on ACF converging channels feature according to claim 1, it is characterised in that: item
Mesh combines ACF algorithm of target detection and wireless radio frequency modules, the concept with the one-sided less radio-frequency class occurred now
Product is compared, and is not on the one hand needed user and is worn rest products, on the one hand the two combines and can preferably know to target
Not and track.
7. a kind of Target Tracking System based on ACF converging channels feature according to claim 1, it is characterised in that: item
Mesh agrees with the computer vision and artificial intelligence of current big heat, and integration and exploitation can be carried out to the prior art；Project and
Mobile terminal, user have good interactivity, and the data information of project uploads to total end in real time and user can be by app pairs
The details such as product space, speed, report barrier, remaining capacity understand.
8. a kind of Target Tracking System based on ACF converging channels feature according to claim 1, it is characterised in that: should
Project is portable, modularity is high, the finished product designed can independent realization mobile carrier function, can also be used as a mould
Block is organically combined with the existing product in other markets, such as in conjunction with private tutor robot, greatly enhances private tutor robot
Flexibility and protectiveness.
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| CN201910333025.6A CN110109455A (en) | 2019-04-24 | 2019-04-24 | A kind of Target Tracking System based on ACF converging channels feature |
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| CN201910333025.6A CN110109455A (en) | 2019-04-24 | 2019-04-24 | A kind of Target Tracking System based on ACF converging channels feature |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111290380A (en) * | 2020-02-06 | 2020-06-16 | 四川长虹电器股份有限公司 | Intelligent forward travel luggage case system in vision field of human eyes |
| CN112215103A (en) * | 2020-09-27 | 2021-01-12 | 武汉理工大学 | Vehicle and pedestrian multi-class detection method and device based on improved ACF |
| CN113472582A (en) * | 2020-07-15 | 2021-10-01 | 北京沃东天骏信息技术有限公司 | System and method for alarm correlation and alarm aggregation in information technology monitoring |
-
2019
- 2019-04-24 CN CN201910333025.6A patent/CN110109455A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111290380A (en) * | 2020-02-06 | 2020-06-16 | 四川长虹电器股份有限公司 | Intelligent forward travel luggage case system in vision field of human eyes |
| CN113472582A (en) * | 2020-07-15 | 2021-10-01 | 北京沃东天骏信息技术有限公司 | System and method for alarm correlation and alarm aggregation in information technology monitoring |
| CN112215103A (en) * | 2020-09-27 | 2021-01-12 | 武汉理工大学 | Vehicle and pedestrian multi-class detection method and device based on improved ACF |
| CN112215103B (en) * | 2020-09-27 | 2024-02-23 | 武汉理工大学 | Vehicle pedestrian multi-category detection method and device based on improved ACF |
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Application publication date: 20190809 |