CN110490931A - Orbit generation method and device, storage medium and electronic device - Google Patents
Orbit generation method and device, storage medium and electronic device Download PDFInfo
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- CN110490931A CN110490931A CN201910770700.1A CN201910770700A CN110490931A CN 110490931 A CN110490931 A CN 110490931A CN 201910770700 A CN201910770700 A CN 201910770700A CN 110490931 A CN110490931 A CN 110490931A
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The invention discloses a kind of orbit generation methods and device, storage medium and electronic device.Wherein, this method comprises: obtaining image capture device to the progress obtained image data set of Image Acquisition in target structures to be monitored；In the case where identifying target object from image data concentration, motion track information of the target object in target structures is obtained according to image data set；Obtain the plan view of target structures；Motion track of the target object on plan view in target area is generated according to motion track information.The present invention solves a kind of the technical issues of motion track for providing mode not yet in the related technology harmful organism is accurately positioned.
Description
Technical field
The present invention relates to computer fields, in particular to a kind of orbit generation method and device, storage medium and electricity
Sub-device.
Background technique
Pest control problem and human lives' health are closely bound up.By the temptation of food source, harmful organism can be continuous
Feeding is carried out into regions such as kitchen of restaurant, to seriously affect the food safety in the regions such as kitchen of restaurant.
The usual figure of harmful organism is smaller and locomotivity is stronger, wall body slit or crack between a door and its frame it is excessive be likely to cause into
It invades or even some harmful organisms can be invaded by sewerage to building interior.It is pipeline, ceiling, hollow by taking muroid as an example
The place that muroid is fled is likely to become inside partition wall.In addition, muroid has the characteristic of rodent, can constantly gnaw
It stings, the building structure that broken ring is weaker, invades after stinging out rat hole to building interior.
However, it is traditional in the related technology, be all often that invasion is captured by installing acquisition equipment in fixed bit
Harmful organism, provide a kind of effective mode not yet but to determine the motion track after pest invasion.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of orbit generation methods and device, storage medium and electronic device, at least to solve
The technical issues of a kind of motion track of mode harmful organism is accurately positioned certainly not yet is provided in the related technology.
According to an aspect of an embodiment of the present invention, a kind of orbit generation method is provided, comprising: obtain Image Acquisition and set
For to the progress obtained image data set of Image Acquisition in target structures to be monitored；It is identified being concentrated from above-mentioned image data
Out in the case where target object, moving rail of the above-mentioned target object in above-mentioned target structures is obtained according to above-mentioned image data set
Mark information；Obtain the plan view of above-mentioned target structures；Above-mentioned target object is generated above-mentioned flat according to above-mentioned motion track information
Motion track on the figure of face in target area.
As an alternative embodiment, above-mentioned obtain above-mentioned target object in above-mentioned mesh according to above-mentioned image data set
Motion track information in mark building includes: to identify that above-mentioned image data concentrates the location of pixels where above-mentioned target object；Root
Regional location of the above-mentioned target object in above-mentioned target structures is determined according to above-mentioned location of pixels；It is generated using above-mentioned zone position
The above-mentioned motion track information of above-mentioned target object.
As an alternative embodiment, above-mentioned generate above-mentioned target object above-mentioned according to above-mentioned motion track information
Motion track on plan view in target area includes: successively to reflect multiple above-mentioned zone positions in above-mentioned motion track information
It is mapped in above-mentioned plan view, obtains multiple mapping positions；It is generated using above-mentioned multiple mapping positions in above-mentioned plan view above-mentioned
Motion track.
As an alternative embodiment, above-mentioned above-mentioned using above-mentioned multiple mapping positions generations in above-mentioned plan view
Motion track includes: the time appeared on above-mentioned zone position according to above-mentioned target object, determines above-mentioned multiple mapping positions
The order of connection；Above-mentioned multiple mapping positions are connected according to the above-mentioned order of connection, to generate above-mentioned motion track.
As an alternative embodiment, generating above-mentioned target object upper according to above-mentioned motion track information above-mentioned
After stating the motion track on plan view in target area, further includes: the case where the quantity of above-mentioned motion track is more than or equal to 2
Under, obtain the similarity between any two above-mentioned motion tracks；In the case where above-mentioned similarity is greater than first threshold, determine
Two above-mentioned motion tracks are attached most importance to rerail mark；It obtains and is determined as the above-mentioned number for repeating track in above-mentioned target structures in each region
Amount；Obtain the target area that the above-mentioned quantity for repeating track is greater than second threshold；Periodic cleaning is carried out to above-mentioned target area.
As an alternative embodiment, generating above-mentioned target object upper according to above-mentioned motion track information above-mentioned
After stating the motion track on plan view in target area, further includes: determine the head and the tail endpoint of above-mentioned motion track；According to above-mentioned
Target object appears in the time on above-mentioned zone position, remembers above-mentioned target in the above-mentioned head and the tail endpoint subscript of above-mentioned motion track
The moving direction of object.
According to another aspect of an embodiment of the present invention, a kind of orbit generation method device is additionally provided, comprising: first obtains
Unit, for obtaining image capture device to the progress obtained image data set of Image Acquisition in target structures to be monitored；
Second acquisition unit, for from above-mentioned image data concentration identify target object in the case where, according to above-mentioned image data
Collection obtains motion track information of the above-mentioned target object in above-mentioned target structures；Third acquiring unit, for obtaining above-mentioned mesh
Mark the plan view of building；Generation unit, for generating above-mentioned target object in above-mentioned plan view according to above-mentioned motion track information
Motion track in upper target area.
As an alternative embodiment, above-mentioned second acquisition unit includes: identification module, above-mentioned image for identification
Location of pixels in data set where above-mentioned target object；Determining module, for determining above-mentioned target according to above-mentioned location of pixels
Regional location of the object in above-mentioned target structures；First generation module, for generating above-mentioned target using above-mentioned zone position
The above-mentioned motion track information of object.
As an alternative embodiment, above-mentioned generation unit includes: acquisition module, for believing above-mentioned motion track
Multiple above-mentioned zone positions in breath are sequentially mapped in above-mentioned plan view, obtain multiple mapping positions；Second generation module is used
Above-mentioned multiple mapping positions in the above-mentioned plan view of utilization generate above-mentioned motion track.
As an alternative embodiment, above-mentioned second generation module comprises determining that submodule, for according to above-mentioned mesh
Mark object appears in the time on above-mentioned zone position, determines the order of connection of above-mentioned multiple mapping positions；Submodule is generated, is used
In connecting above-mentioned multiple mapping positions according to the above-mentioned order of connection, to generate above-mentioned motion track.
As an alternative embodiment, further include: the 4th acquiring unit is used for above-mentioned according to above-mentioned motion track
After information generates motion track of the above-mentioned target object on above-mentioned plan view in target area, in the number of above-mentioned motion track
In the case that amount is more than or equal to 2, the similarity between any two above-mentioned motion tracks is obtained；First determination unit is used for
It is above-mentioned according to above-mentioned motion track information generate motion track of the above-mentioned target object on above-mentioned plan view in target area it
Afterwards, in the case where above-mentioned similarity is greater than first threshold, determine that two above-mentioned motion tracks are attached most importance to rerail mark；5th obtains list
Member, for generating shifting of the above-mentioned target object on above-mentioned plan view in target area according to above-mentioned motion track information above-mentioned
After dynamic rail mark, obtains and be determined as the above-mentioned quantity for repeating track in above-mentioned target structures in each region；6th acquiring unit,
For generating movement of the above-mentioned target object on above-mentioned plan view in target area according to above-mentioned motion track information above-mentioned
After track, the target area that the above-mentioned quantity for repeating track is greater than second threshold is obtained；Unit is cleared up, in above-mentioned basis
After above-mentioned motion track information generates motion track of the above-mentioned target object on above-mentioned plan view in target area, to above-mentioned
Target area carries out periodic cleaning.
As an alternative embodiment, further include: the second determination unit is used for above-mentioned according to above-mentioned motion track
After information generates motion track of the above-mentioned target object on above-mentioned plan view in target area, above-mentioned motion track is determined
Head and the tail endpoint；Marking unit, for generating above-mentioned target object in above-mentioned plan view according to above-mentioned motion track information above-mentioned
After motion track in upper target area, the time on above-mentioned zone position is appeared according to above-mentioned target object, above-mentioned
The above-mentioned head and the tail endpoint subscript of motion track remembers the moving direction of above-mentioned target object.
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, and meter is stored in the storage medium
Calculation machine program, wherein the computer program is arranged to execute above-mentioned orbit generation method when operation.
Another aspect according to an embodiment of the present invention, additionally provides a kind of electronic device, including memory, processor and deposits
Store up the computer program that can be run on a memory and on a processor, wherein above-mentioned processor passes through computer program and executes
Above-mentioned orbit generation method.
In embodiments of the present invention, target object is being identified from image capture device acquired image data set
In the case of, motion track information of the target object in target structures can be obtained according to the image data set, and by basis
The motion track information, generates the motion track of above-mentioned target object in the plan view of above-mentioned target structures, to realize standard
Motion track of the target object after entering target structures is really oriented, and then solves and a kind of side is not yet provided in the related technology
The technical issues of motion track of the formula harmful organism is accurately positioned.Further, determine that target object exists according to the motion track
Capture device can be pointedly arranged in realization by the route moved in target structures in above-mentioned route, or to above-mentioned route
In designated position can pointedly be cleared up, reach the quantity purpose for reducing target object in target structures, and realize
Simplify the operation for carrying out control cleaning to target object, reaches the technical effect for improving cleaning efficiency.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of flow diagram of optional orbit generation method according to an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of optional orbit generation method according to an embodiment of the present invention；
Fig. 3 is the schematic diagram of another optional orbit generation method according to an embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of optional track generating means according to an embodiment of the present invention；
Fig. 5 is the schematic diagram of another optional track generating means according to an embodiment of the present invention；
Fig. 6 is the schematic diagram of another optional track generating means according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
According to an aspect of an embodiment of the present invention, a kind of orbit generation method is provided, optionally, as a kind of optional
Embodiment, as shown in Figure 1, above-mentioned orbit generation method includes:
S102 obtains image capture device to the progress obtained image data of Image Acquisition in target structures to be monitored
Collection；
S104 is obtained in the case where identifying target object from above-mentioned image data concentration according to above-mentioned image data set
Motion track information of the above-mentioned target object in above-mentioned target structures；
S106 obtains the plan view of above-mentioned target structures；
S108 generates shifting of the above-mentioned target object on above-mentioned plan view in target area according to above-mentioned motion track information
Dynamic rail mark.
Optionally, in the present embodiment, above-mentioned orbit generation method can be, but not limited to be applied to in target structures
During muroid is effectively prevented.Wherein, above-mentioned target structures can include but is not limited to civilian shelter, industrial building,
Warehouse etc. is used to live or produce, store the building of cargo.The above-mentioned object that prevents can include but is not limited to harmful organism object,
Such as muroid, it can also include but unlimited when occurring in building, user's daily life or production safety, storage peace may be jeopardized
Full other biological object, such as: snake ant, cockroach, winged insect.Above-mentioned image capture device can include but is not limited to: in advance
The monitoring device being deployed in target structures, such as video monitoring equipment, camera of taking pictures, infrared detector.It is above-mentioned to be only
A kind of example is not limited in any way this in the present embodiment.
It should be noted that in the present embodiment, by the image capture device disposed in advance to the sky in target structures
Between region carry out Image Acquisition, to obtain corresponding image data set, wherein the image capture device disposed in advance can with but not
It is limited to have multiple.The all images data obtained out of target structures are identified, in the case where identifying target object,
Wherein, which can include but is not limited to carry out mobile object, face according to feature posture in characteristic time section
Portion is identified as the object (i.e. above-mentioned harmful biological object) of default feature, then, above-mentioned target object is marked, is passed through
Label obtains target pixel points of the target object in each frame image data, further summarizes the target picture in image data set
Vegetarian refreshments, wherein target pixel points connect into object pixel line by continuous image data, and above-mentioned object pixel line is
Motion track of the target object in target structures.Further, the plan view of target structures is obtained, wherein need to wrap in plan view
Include the target object mapping in the space plane mapping and target structures of target structures.Further, image data is concentrated
Coordinate data is converted into the coordinate data of the plan view of target structures.
Optionally, in the present embodiment, it is cabinet that the target object of target structures, which can be, but not limited to, refrigerator, colour TV, is washed
The objects such as hand platform, target area can be, but not limited to be ground.
It is further illustrated, in the present embodiment, target structures are kitchen, and target object is cabinet, refrigerator, washes one's hands
Platform, target area are ground, and target object is muroid.Video camera is in the case where recognizing muroid, in each frame image frame
On make marks, wherein label can be, but not limited to be fluorescent marker.Further, each frame image frame work is summarized, obtains band
There is the final camera picture of the motion track of muroid, as shown in Fig. 2, a plurality of black line shown in figure is in final camera picture
Muroid motion track.Further, the muroid motion track in above-mentioned final photographed images is mapped in the plan view of kitchen, such as
Shown in Fig. 3, a plurality of black line with the arrow as shown in the figure is the muroid motion track after mapping, wherein arrow is moved for indicating
The direction of dynamic rail mark.
Optionally, in the present embodiment, as shown in Fig. 2, Fig. 2 is the target structures figure that camera collects an angle
Picture, wherein the image in order not to acquire camera shooting generates dead angle because the objects such as cabinet are covered, and multiple take the photograph is taken in the present embodiment
As the mode of head acquisition image, so that final acquired image data set can completely show all empty of target structures
Between scene, for convenience of description, the present embodiment is illustrated with an angle of a camera.
It optionally, in the present embodiment, must will be in different height plane since video camera shoots near big and far smaller principle
In the unified mapping of point and floor.The parallel plane domain in ground, such as desktop, station surface are defaulted in, is assigned corresponding
Relative altitude.According to different relative altitudes, its transformation matrix is calculated.
Optionally, in the present embodiment, as shown in figure 3, Fig. 3 is target structures plan view, wherein A, B, C, D are by Fig. 2
Shown in object A, B, C, D in target structures be mapped to the two dimensional image in plane, wherein object can be, but not limited to be
Refrigerator, cabinet, wash platform etc..Key place in target structures has also carried out corresponding mapping or mark, such as will be shown in Fig. 2
Door, window are mapped and have been marked, door that the result of mapping marks as shown in Figure 3, window.
Optionally, in the present embodiment, the motion track in acquired image data set is mapped to target structures
In plan view, wherein the method for mapping can be, but not limited to coordinate conversion.
For example, in the present embodiment, by camera collection image, the actual ground region in monitoring picture is preset, into
And the preset coordinate system in above-mentioned real screen, and on the basis of some coordinates of the plane of actual ground, according to transformation matrix meter
Coordinate after calculating the point conversion of Different Plane.Further, the target object point that each frame in monitoring picture is labeled is obtained
Coordinate, and then the coordinate of above-mentioned target object point is converted by the coordinate in plane by above-mentioned transformation matrix, so obtain by
The target object moving rail trace of continuous coordinate group.
By embodiment provided by the present application, target is being identified from image capture device acquired image data set
In the case where object, motion track information of the target object in target structures can be obtained according to the image data set, and
The motion track of above-mentioned target object will be generated in the plan view of above-mentioned target structures according to the motion track information, thus
It realizes the motion track that target object is accurately positioned out after entering target structures, and then solves not yet to provide one in the related technology
The problem of motion track harmful organism is accurately positioned of kind of mode, reach the quantity mesh for reducing target object in target structures
, and realize the operation for simplifying and carrying out control cleaning to target object, reach the technical effect for improving cleaning efficiency.
It is above-mentioned to be built according to the above-mentioned target object of above-mentioned image data set acquisition in above-mentioned target as a kind of optional scheme
Building interior motion track information includes:
S1 identifies that above-mentioned image data concentrates the location of pixels where above-mentioned target object；
S2 determines regional location of the above-mentioned target object in above-mentioned target structures according to above-mentioned location of pixels；
S3 generates the above-mentioned motion track information of above-mentioned target object using above-mentioned zone position.
It should be noted that in the present embodiment, the image data set that acquisition equipment is got is by multiple image picture
It constitutes, wherein the pixel of the target object recognized is marked in the image frame of each frame, further, is obtained practical
The coordinate data of the depression angle of target structures, with the actual position coordinate of the above-mentioned pixel to make marks of determination, and then will be upper
The two dimension position (Second Dimension, abbreviation 2D) that actual position coordinate is converted on the plan view of target structures is stated to sit
Mark.
Optionally, in the present embodiment, it can be, but not limited to that actual position coordinate is converted to 2D based on homography conversion
Position coordinates.Wherein, homography conversion is the projection mapping from a plane to another plane, such as a video camera imaging
On instrument o'clock to the mapping on a two-dimensional surface, specifically, the evaluation for being related to homography matrix calculates.Further, acquisition is set
Corresponding point is chosen in standby acquired image data set, and according to the inside and outside parameter of photographic device, camera position, direction
And inclination angle, and then homography matrix is calculated, and then the actual position coordinate that image data is concentrated is realized according to above-mentioned homography matrix
To the conversion of 2D position coordinates.Further, it illustrates, it is assumed that there are two video cameras to acquire picture, respectively video camera A and takes the photograph
Camera B, wherein the central point of video camera A, B are all in same plane, then homography matrix formula isWherein, the internal reference matrix of video camera A is Ka, the internal reference matrix of video camera B is
Kb, corresponding rotation, translation matrix are respectively [Ra Ta]、[Rb Tb], d is vertical range of the objective plane to video camera A (B),
nTFor normal vector of the plane under video camera A (B) coordinate system.Further, X=H × Y, wherein X is for indicating under 2D coordinate system
Coordinate, Y is used to indicate coordinate under 3D coordinate system.
By embodiment provided by the present application, using the conversion of actual position coordinate and 2D plane coordinates, realizing will be adopted
Target trajectory in collection image is shown in the purpose on the plan view of target structures, and then solving can not be complete by acquisition equipment
The problem of mouse mark, is supervised in face, improves the working efficiency that muroid prevents.
It is above-mentioned that above-mentioned target object is generated in above-mentioned plane according to above-mentioned motion track information as a kind of optional scheme
Motion track on figure in target area includes:
Multiple above-mentioned zone positions in above-mentioned motion track information are sequentially mapped in above-mentioned plan view, obtain by S1
Multiple mapping positions；
S2 generates above-mentioned motion track using above-mentioned multiple mapping positions in above-mentioned plan view.
It should be noted that in the present embodiment, the target pixel points of target object are got after physical location, it will even
Continuous target pixel points connection, and then object pixel line is got, likewise, pair that will be shown on the plan view of target structures
It should put connected, and then get the correspondence line shown on the plan view of target structures, above-mentioned corresponding line is motion track.
It is further illustrated, in this example, it is assumed that target object is muroid, the case where recognizing target object
Under, label muroid at this time where position, and then obtain the image with muroid label, be recorded as image 1, after 1s, muroid is moved
It is dynamic, then the position of muroid at this time is marked again, and obtain the muroid tag image with muroid after mobile, be recorded as image 2.One
After fixing time, n images are obtained, because n image deratization classes mark remaining outer factor all consistent, therefore, n images are summarized
Afterwards, the image with n muroid label is obtained, further, by the time linkage flag that label generates, and then obtains muroid
The connecting line of label.
By embodiment provided by the present application, in the way of successively mapping motion track information, realizes and obtain movement
Track and the purpose that motion track information is generated on plan view, and then the monitoring screen for solving muroid track is not intuitive enough
Problem.
As a kind of optional scheme, above-mentioned above-mentioned multiple mapping positions using in above-mentioned plan view generate above-mentioned movement
Track includes:
S1 appears in the time on above-mentioned zone position according to above-mentioned target object, determines above-mentioned multiple mapping positions
The order of connection；
S2 connects above-mentioned multiple mapping positions according to the above-mentioned order of connection, to generate above-mentioned motion track.
It should be noted that in the present embodiment, the time on above-mentioned zone position is appeared according to above-mentioned target object,
Determine the order of connection of above-mentioned multiple mapping positions.
Optionally, in the present embodiment, the motion track of target object is shown by the image as unit of frame
, wherein the acquisition time of each frame has successive, therefore, according to the successive of above-mentioned acquisition time, determines motion track
Direction.
Complete documentation muroid motion track is realized using the time difference for generating image by embodiment provided by the present application
The purpose in direction, and then can determine that muroid resides position by the direction of arrow, in order to which emphasis cleaning muroid takes place frequently in the future
Area solves the problems, such as to prevent mouse from suffering from working efficiency not high.
As a kind of optional scheme, above-mentioned target object is generated above-mentioned flat according to above-mentioned motion track information above-mentioned
After motion track on the figure of face in target area, further includes:
S1 is obtained between any two above-mentioned motion tracks in the case where the quantity of above-mentioned motion track is more than or equal to 2
Similarity；
S2 determines that two above-mentioned motion tracks are attached most importance to rerail mark in the case where above-mentioned similarity is greater than first threshold；
S3 is obtained and is determined as the above-mentioned quantity for repeating track in above-mentioned target structures in each region；
S4 obtains the target area that the above-mentioned quantity for repeating track is greater than second threshold；
S5 carries out periodic cleaning to above-mentioned target area.
It should be noted that in the present embodiment, in the plan view of target structures, multiple subregions are preset, in Fig. 3
Shown in " subregion 1 ", " subregion 2 " be one of multiple subregions, wherein subregion is the component part of target area,
And target area is made of multiple subregions.Further, in single subregion, the moving rail number of traces of muroid is more than or equal to
In the case where 2, obtain the similarity between above-mentioned moving rail trace, wherein similarity include but is not limited to be distance weighted ask
The result of sum.Further, in the case where above-mentioned similarity is greater than first threshold, determine that above-mentioned moving rail trace is attached most importance to rerail
Mark, and the above-mentioned subregion repeated where track is recorded, the quantity of above-mentioned record is counted, is greater than second in the quantity of above-mentioned record
In the case where threshold value, the above-mentioned subregion repeated where track is recorded, and periodically clear up above-mentioned subregion.
It is further illustrated, optionally, in the present embodiment, as shown in figure 3, there is 7 motion tracks in subregion 1
Line, trajectory line quantity are greater than 2, judge the similarity of motion track in region, wherein the similarity between moving rail trace depends on
Distance between motion track, it is assumed that the distance between motion track is less than or equal to be determined as motion track repetition at 10 centimetres, presets
It is determined as target area when number of iterations is more than or equal to 3 in region.Further, there is distance between 5 motion tracks small in subregion 1
In or equal to 10 centimetres.Further, it determines that repeating tracking quantity in region 1 is 5, and repeats tracking quantity and be greater than 3, and then determine
Subregion 1 is target area, and record subregion 1 is emphasis cleaning area；And have 1 motion track in subregion 2, track line number
Amount is less than 1, without judging whether the similarity of motion track in region meets preset condition.
It realizes and judges in the way of determining whether muroid trajectory line is duplicate by embodiment provided by the present application
Muroid high spectrum activity region, with solve the problems, such as protection against rodents suffer from work without purpose cleaning and caused by it is ineffective.
As a kind of optional scheme, above-mentioned target object is generated above-mentioned flat according to above-mentioned motion track information above-mentioned
After motion track on the figure of face in target area, further includes:
S1 determines the head and the tail endpoint of above-mentioned motion track；
S2 appears in the time on above-mentioned zone position according to above-mentioned target object, in the above-mentioned head of above-mentioned motion track
The moving direction of above-mentioned target object is marked on tail point.
It should be noted that in the present embodiment, the movement of target object track is that have direction, likewise, in target area
Muroid motion track in the plane of domain is also the time that is directive, occurring on target area by target object, in target
The moving direction of target object is marked in area planar.
It is further illustrated, optionally, in the present embodiment, as shown in figure 3, the moving rail trace in Fig. 3 is with arrow
Form represent the moving direction of muroid, e.g., motion track 1 connects C, D, wherein the arrow of motion track 1 is directed toward C, that is, represents
Muroid is to be moved to C from D.
Complete documentation muroid motion track is realized using the time difference for generating image by embodiment provided by the present application
The purpose in direction, and then can determine that muroid resides position by the direction of arrow, in order to which emphasis cleaning muroid takes place frequently in the future
Area solves the problems, such as to prevent mouse from suffering from working efficiency not high.
Other side according to an embodiment of the present invention additionally provides a kind of for implementing the rail of above-mentioned orbit generation method
Mark generating means.As shown in figure 4, the device includes:
First acquisition unit 402, for obtaining image capture device to carrying out Image Acquisition in target structures to be monitored
Obtained image data set；
Second acquisition unit 404, for from above-mentioned image data concentration identify target object in the case where, according to upper
It states image data set and obtains motion track information of the above-mentioned target object in above-mentioned target structures；
Third acquiring unit 406, for obtaining the plan view of above-mentioned target structures；
Generation unit 408, for generating above-mentioned target object mesh on above-mentioned plan view according to above-mentioned motion track information
Mark the motion track in region.
Optionally, in the present embodiment, above-mentioned cueing track generating means can be, but not limited to be applied to target structures
During interior muroid is effectively prevented.Wherein, above-mentioned target structures can include but is not limited to civilian shelter, factory, factory
Room, warehouse etc. are used to live or produce, store the building of cargo.The above-mentioned object that prevents can include but is not limited to muroid, may be used also
With include but it is unlimited occur in building when, it is right that user's daily life or production safety, the biology of storage safety may be jeopardized
As, such as: snake ant, cockroach, winged insect.Above-mentioned image capture device can include but is not limited to: be previously deployed at target structures
Interior monitoring device, such as video monitoring equipment, camera of taking pictures, infrared detector.Above-mentioned is only a kind of example, this implementation
This is not limited in any way in example.
It should be noted that in the present embodiment, by the image capture device disposed in advance to the sky in target structures
Between region carry out Image Acquisition, to obtain corresponding image data set, wherein the image capture device disposed in advance can with but not
It is limited to have multiple.The all images data obtained out of target structures are identified, in the case where identifying target object,
Wherein, which can include but is not limited to carry out mobile object, face according to feature posture in characteristic time section
Portion is identified as the object (i.e. above-mentioned harmful biological object) of default feature, then, above-mentioned target object is marked, is passed through
Label obtains target pixel points of the target object in each frame image data, further summarizes the target picture in image data set
Vegetarian refreshments, wherein target pixel points connect into object pixel line by continuous image data, and above-mentioned object pixel line is
Motion track of the target object in target structures.Further, the plan view of target structures is obtained, wherein need to wrap in plan view
Include the part objects mapping in the space plane mapping and target structures of target structures.Further, image data is concentrated
Coordinate data is converted into the coordinate data of the plan view of target structures.
Optionally, in the present embodiment, it is cabinet that the target object of target structures, which can be, but not limited to, refrigerator, colour TV, is washed
The objects such as hand platform, target area can be, but not limited to be ground.
It is further illustrated, in the present embodiment, target structures are kitchen, and target object is cabinet, refrigerator, washes one's hands
Platform, target area are ground, and target object is muroid.Video camera is in the case where recognizing muroid, in each frame image frame
On make marks, wherein label can be, but not limited to be fluorescent marker.Further, each frame image frame work is summarized, obtains band
There is the final camera picture of the motion track of muroid, as shown in Fig. 2, a plurality of black line shown in figure is in final camera picture
Muroid motion track.Further, the muroid motion track in above-mentioned final photographed images is mapped in the plan view of kitchen, such as
Shown in Fig. 3, a plurality of black line with the arrow as shown in the figure is the muroid motion track after mapping, wherein arrow is moved for indicating
The direction of dynamic rail mark.
Optionally, in the present embodiment, as shown in Fig. 2, Fig. 2 is the target structures figure that camera collects an angle
Picture, wherein the image in order not to acquire camera shooting generates dead angle because the objects such as cabinet are covered, and multiple take the photograph is taken in the present embodiment
As the mode of head acquisition image, so that final acquired image data set can completely show target structures without dead angle
Whole space scenes, for convenience of description, the present embodiment is illustrated with an angle of a camera.
It optionally, in the present embodiment, must will be in different height plane since video camera shoots near big and far smaller principle
In the unified mapping of point and floor.The parallel plane domain in ground, such as desktop, station surface are defaulted in, is assigned corresponding
Relative altitude.According to different relative altitudes, its transformation matrix is calculated.
Optionally, in the present embodiment, in the case that the identification device in camera has identified that object is muroid, such as
Shown in Fig. 2, by muroid target structures motion track with fluorescent marker, wherein the present embodiment by camera it is collected
Pixel on each frame image summarizes all images and forms the shifting for completely having fluorescent marker as fluorescent marker object
Dynamic rail mark.
Optionally, in the present embodiment, as shown in figure 3, Fig. 3 is target structures plan view, wherein A, B, C, D are by Fig. 2
Shown in object A, B, C, D in target structures be mapped to the two dimensional image in plane, wherein object can be, but not limited to be
Refrigerator, cabinet, wash platform etc..Key place in target structures has also carried out corresponding mapping or mark, such as will be shown in Fig. 2
Door, window are mapped and have been marked, door that the result of mapping marks as shown in Figure 3, window.
Optionally, in the present embodiment, the motion track in acquired image data set is mapped to target structures
In plan view, wherein the method for mapping can be, but not limited to coordinate conversion.
For example, in the present embodiment, by camera collection image, the actual ground region in monitoring picture is preset, into
And the preset coordinate system in above-mentioned real screen, and on the basis of some coordinates of the plane of actual ground, according to transformation matrix meter
Coordinate after calculating the point conversion of Different Plane.Further, the target object point that each frame in monitoring picture is labeled is obtained
Coordinate, and then the coordinate of above-mentioned target object point is converted by the coordinate in plane by above-mentioned transformation matrix, so obtain by
The target object moving rail trace of continuous coordinate group.
By embodiment provided by the present application, target object recorded in real-time acquired image data set is utilized
Motion track information to achieve the purpose that existing muroid motion track in comprehensive record target structures, and then avoids checking
Comprehensively caused by the problem of a kind of motion track of mode harmful organism is accurately positioned not yet is provided in the related technology.
As a kind of optional scheme, as shown in figure 5, above-mentioned second acquisition unit includes:
Identification module 502, above-mentioned image data concentrates the location of pixels where above-mentioned target object for identification；
Determining module 504, for determining area of the above-mentioned target object in above-mentioned target structures according to above-mentioned location of pixels
Domain position；
First generation module 506, the above-mentioned motion track for being generated above-mentioned target object using above-mentioned zone position are believed
Breath.
It should be noted that in the present embodiment, the image data set that acquisition equipment is got is by multiple image picture
It constitutes, wherein the pixel of the target object recognized is marked in the image frame of each frame, further, is obtained practical
The coordinate data of the depression angle of target structures, with the actual position coordinate of the above-mentioned pixel to make marks of determination, and then will be upper
The two dimension position (Second Dimension, abbreviation 2D) that actual position coordinate is converted on the plan view of target structures is stated to sit
Mark.
Optionally, in the present embodiment, it can be, but not limited to that actual position coordinate is converted to 2D based on homography conversion
Position coordinates.Wherein, homography conversion is the projection mapping from a plane to another plane, such as a video camera imaging
On instrument o'clock to the mapping on a two-dimensional surface, specifically, the evaluation for being related to homography matrix calculates.Further, acquisition is set
Corresponding point is chosen in standby acquired image data set, and according to the inside and outside parameter of photographic device, camera position, direction
And inclination angle, and then homography matrix is calculated, and then the actual position coordinate that image data is concentrated is realized according to above-mentioned homography matrix
To the conversion of 2D position coordinates.Further, it illustrates, it is assumed that there are two video cameras to acquire picture, respectively video camera A and takes the photograph
Camera B, wherein the central point of video camera A, B are all in same plane, then homography matrix formula isWherein, the internal reference matrix of video camera A is Ka, the internal reference matrix of video camera B is
Kb, corresponding rotation, translation matrix are respectively [Ra Ta]、[Rb Tb], d is vertical range of the objective plane to video camera A (B),
nTFor normal vector of the plane under video camera A (B) coordinate system.Further, X=H × Y, wherein X is for indicating under 2D coordinate system
Coordinate, Y is used to indicate coordinate under 3D coordinate system.
By embodiment provided by the present application, using the conversion of actual position coordinate and 2D plane coordinates, realizing will be adopted
Target trajectory in collection image is shown in the purpose on the plan view of target structures, and then solving can not be complete by acquisition equipment
The problem of mouse mark, is supervised in face, improves the working efficiency that muroid prevents.
As a kind of optional scheme, as shown in fig. 6, above-mentioned generation unit includes:
Module 602 is obtained, it is above-mentioned for being sequentially mapped to multiple above-mentioned zone positions in above-mentioned motion track information
In plan view, multiple mapping positions are obtained；
Second generation module 604, for generating above-mentioned moving rail using above-mentioned multiple mapping positions in above-mentioned plan view
Mark.
It should be noted that in the present embodiment, the target pixel points of target object are got after physical location, it will even
Continuous target pixel points connection, and then object pixel line is got, likewise, pair that will be shown on the plan view of target structures
It should put connected, and then get the correspondence line shown on the plan view of target structures, above-mentioned corresponding line is motion track.
It is further illustrated, in this example, it is assumed that target object is muroid, the case where recognizing target object
Under, label muroid at this time where position, and then obtain the image with muroid label, be recorded as image 1, after 1s, muroid is moved
It is dynamic, then the position of muroid at this time is marked again, and obtain the muroid tag image with muroid after mobile, be recorded as image 2.One
After fixing time, n images are obtained, because n image deratization classes mark remaining outer factor all consistent, therefore, n images are summarized
Afterwards, the image with n muroid label is obtained, further, by the time linkage flag that label generates, and then obtains muroid
The connecting line of label.
By embodiment provided by the present application, in the way of successively mapping motion track information, realizes and obtain movement
Track and the purpose that motion track information is generated on plan view, and then the monitoring screen for solving muroid track is not intuitive enough
Problem.
As a kind of optional scheme, above-mentioned second generation module includes:
It determines submodule, for appearing in the time on above-mentioned zone position according to above-mentioned target object, determines above-mentioned more
The order of connection of a mapping position；
Submodule is generated, for connecting above-mentioned multiple mapping positions according to the above-mentioned order of connection, to generate above-mentioned moving rail
Mark.
It should be noted that in the present embodiment, the time on above-mentioned zone position is appeared according to above-mentioned target object,
Determine the order of connection of above-mentioned multiple mapping positions.
Optionally, in the present embodiment, the motion track of target object is shown by the image as unit of frame
, wherein the acquisition time of each frame has successive, therefore, according to the successive of above-mentioned acquisition time, determines motion track
Direction.
Complete documentation muroid motion track is realized using the time difference for generating image by embodiment provided by the present application
The purpose in direction, and then can determine that muroid resides position by the direction of arrow, in order to which emphasis cleaning muroid takes place frequently in the future
Area solves the problems, such as to prevent mouse from suffering from working efficiency not high.
As a kind of optional scheme, further includes:
4th acquiring unit, for generating above-mentioned target object in above-mentioned plane according to above-mentioned motion track information above-mentioned
After motion track on figure in target area, in the case where the quantity of above-mentioned motion track is more than or equal to 2, any two are obtained
Similarity between the above-mentioned motion track of item；
First determination unit, for generating above-mentioned target object in above-mentioned plane according to above-mentioned motion track information above-mentioned
After motion track on figure in target area, in the case where above-mentioned similarity is greater than first threshold, two above-mentioned shiftings are determined
Dynamic rail mark is attached most importance to rerail mark；
5th acquiring unit, for generating above-mentioned target object in above-mentioned plane according to above-mentioned motion track information above-mentioned
After motion track on figure in target area, obtains and be determined as above-mentioned repetition track in above-mentioned target structures in each region
Quantity；
6th acquiring unit, for generating above-mentioned target object in above-mentioned plane according to above-mentioned motion track information above-mentioned
After motion track on figure in target area, the target area that the above-mentioned quantity for repeating track is greater than second threshold is obtained；
Unit is cleared up, for generating above-mentioned target object in above-mentioned plan view according to above-mentioned motion track information above-mentioned
After motion track in target area, periodic cleaning is carried out to above-mentioned target area.
It should be noted that in the present embodiment, in the plan view of target structures, multiple subregions are preset, in Fig. 3
Shown in " subregion 1 " be one of multiple subregions, wherein subregion is the component part of target area, and target area
It is made of multiple subregions.Further, in the case that the moving rail number of traces of muroid is more than or equal to 2 in single subregion,
Obtain the similarity between above-mentioned moving rail trace, wherein similarity includes but is not limited to the result for being distance weighted summation.Into
One step determines that above-mentioned moving rail trace is attached most importance to rerail mark, and record above-mentioned in the case where above-mentioned similarity is greater than first threshold
The subregion where track is repeated, the quantity of above-mentioned record is counted, in the case where the quantity of above-mentioned record is greater than second threshold,
The above-mentioned subregion repeated where track is recorded, and periodically above-mentioned subregion is cleared up.
It is further illustrated, optionally, in the present embodiment, as shown in figure 3, there is 7 motion tracks in subregion 1
Line, trajectory line quantity are greater than 2, judge the similarity of motion track in region, wherein the similarity between moving rail trace depends on
Distance between motion track, it is assumed that the distance between motion track is less than or equal to be determined as motion track repetition at 10 centimetres, presets
It is determined as target area when number of iterations is more than or equal to 3 in region.Further, there is distance between 5 motion tracks small in subregion 1
In or equal to 10 centimetres.Further, it determines that repeating tracking quantity in region 1 is 5, and repeats tracking quantity and be greater than 3, and then determine
Subregion 1 is target area, and record subregion 1 is emphasis cleaning area；And have 1 motion track in subregion 2, track line number
Amount is less than 1, without judging whether the similarity of motion track in region meets preset condition.
It realizes and judges in the way of determining whether muroid trajectory line is duplicate by embodiment provided by the present application
Muroid high spectrum activity region, with solve the problems, such as protection against rodents suffer from work without purpose cleaning and caused by it is ineffective.
As a kind of optional scheme, further includes:
Second determination unit, for generating above-mentioned target object in above-mentioned plane according to above-mentioned motion track information above-mentioned
After motion track on figure in target area, the head and the tail endpoint of above-mentioned motion track is determined；
Marking unit is used for, and generates above-mentioned target object in above-mentioned plan view according to above-mentioned motion track information above-mentioned
After motion track in upper target area, the time on above-mentioned zone position is appeared according to above-mentioned target object, above-mentioned
The above-mentioned head and the tail endpoint subscript of motion track remembers the moving direction of above-mentioned target object.
It should be noted that in the present embodiment, the movement of target object track is that have direction, likewise, in target area
Muroid motion track in the plane of domain is also the time that is directive, occurring on target area by target object, in target
The moving direction of target object is marked in area planar.
It is further illustrated, optionally, in the present embodiment, as shown in figure 3, the moving rail trace in Fig. 3 is with arrow
Form represent the moving direction of muroid, e.g., motion track 1 connects C, D, wherein the arrow of motion track 1 is directed toward C, that is, represents
Muroid is to be moved to C from D.
Complete documentation muroid motion track is realized using the time difference for generating image by embodiment provided by the present application
The purpose in direction, and then can determine that muroid resides position by the direction of arrow, in order to which emphasis cleaning muroid takes place frequently in the future
Area solves the problems, such as to prevent mouse from suffering from working efficiency not high.
Another aspect according to an embodiment of the present invention additionally provides a kind of for implementing the electricity of above-mentioned orbit generation method
Sub-device, electronic device include memory and processor, are stored with computer program in the memory, which is arranged to
The step in any of the above-described embodiment of the method is executed by computer program.
It should be noted that for simple description, therefore, it is stated as a series of for each Installation practice above-mentioned
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described because
According to the present invention, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know
It knows, the embodiments described in the specification are all preferred embodiments, and related actions and modules is not necessarily of the invention
It is necessary.
Optionally, it will appreciated by the skilled person that the structure in the embodiment of the present application is only to illustrate, electronics dress
It sets and can be smart phone (such as Android phone, iOS mobile phone), tablet computer, palm PC and mobile internet device
The terminal devices such as (Mobile Internet Devices, MID), PAD.The embodiment of the present application is not to above-mentioned electronic device
Structure causes to limit.For example, electronic device may also include more perhaps less component (such as network interface) or it is more not
Same configuration.
Wherein, memory can be used for storing software program and module, as one of embodiment of the present invention track generates
Corresponding program instruction/the module of method and apparatus, the software program and module that processor is stored in memory by operation,
Thereby executing various function application and data processing, that is, realize above-mentioned orbit generation method.Memory may include high speed with
Machine memory, can also include nonvolatile memory, such as one or more magnetic storage device, flash memory or other are non-
Volatile solid-state.In some instances, memory can further comprise the memory remotely located relative to processor,
These remote memories can pass through network connection to terminal.The example of above-mentioned network includes but is not limited to internet, in enterprise
Portion's net, local area network, mobile radio communication and combinations thereof.Wherein, storage implement body can be, but not limited to for raw on memory plane figure
At the information such as motion track.As an example, above-mentioned memory, in can be, but not limited to include above-mentioned track generating means
In first acquisition unit 402, second acquisition unit 404, third acquiring unit 406, generation unit 408.Further, it is also possible to
Other modular units in including but not limited to above-mentioned track generating means repeat no more in this example.
Optionally, above-mentioned transmitting device is used to that data to be received or sent via a network.Above-mentioned network is specific
Example may include cable network and wireless network.In an example, transmitting device includes a network adapter (Network
Interface Controller, NIC), can be connected by cable with other network equipments with router so as to interconnection
Net or local area network are communicated.In an example, transmitting device is radio frequency (Radio Frequency, RF) module, is used for
Wirelessly communicated with internet.
In addition, above-mentioned electronic device further include: display, for showing the above-mentioned motion track knot generated on plan view
Fruit；With connection bus, for connecting the modules component in above-mentioned electronic device.
The another aspect of embodiment according to the present invention, additionally provides a kind of storage medium, is stored in the storage medium
Computer program, wherein the computer program is arranged to execute the step in any of the above-described embodiment of the method when operation.
Optionally, in the present embodiment, above-mentioned storage medium can be set to store by executing based on following steps
Calculation machine program:
S1 obtains image capture device to the progress obtained image data of Image Acquisition in target structures to be monitored
Collection.
S2 obtains target object according to image data set in the case where identifying target object from image data concentration
Motion track information in target structures.
S3 obtains the plan view of target structures.
S4 generates motion track of the target object on plan view in target area according to motion track information.
Optionally, in the present embodiment, those of ordinary skill in the art will appreciate that in the various methods of above-described embodiment
All or part of the steps be that the relevant hardware of terminal device can be instructed to complete by program, the program can store in
In computer readable storage medium, storage medium may include: flash disk, read-only memory (Read-Only Memory,
ROM), random access device (Random Access Memory, RAM), disk or CD etc..
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
If the integrated unit in above-described embodiment is realized in the form of SFU software functional unit and as independent product
When selling or using, it can store in above-mentioned computer-readable storage medium.Based on this understanding, skill of the invention
Substantially all or part of the part that contributes to existing technology or the technical solution can be with soft in other words for art scheme
The form of part product embodies, which is stored in a storage medium, including some instructions are used so that one
Platform or multiple stage computers equipment (can be personal computer, server or network equipment etc.) execute in each embodiment of the present invention
State all or part of the steps of method.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed client, it can be by others side
Formula is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of said units, and only one
Kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
It is desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed it is mutual it
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
Above-mentioned above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (14)
1. a kind of orbit generation method characterized by comprising
Image capture device is obtained to the progress obtained image data set of Image Acquisition in target structures to be monitored；
In the case where identifying target object from described image data set, the target is obtained according to described image data set
Motion track information of the object in the target structures；
Obtain the plan view of the target structures；
Motion track of the target object on the plan view in target area is generated according to the motion track information.
2. the method according to claim 1, wherein described obtain the target pair according to described image data set
As the motion track information in the target structures includes:
Identify the location of pixels where target object described in described image data set；
Regional location of the target object in the target structures is determined according to the location of pixels；
The motion track information of the target object is generated using the regional location.
3. according to the method described in claim 2, it is characterized in that, described generate the target according to the motion track information
Motion track of the object on the plan view in target area include:
Multiple regional locations in the motion track information are sequentially mapped in the plan view, multiple mappings are obtained
Position；
The motion track is generated using the multiple mapping position in the plan view.
4. according to the method described in claim 3, it is characterized in that, the multiple mapped bits using in the plan view
Setting the generation motion track includes:
The time on the regional location is appeared according to the target object, determines that the connection of the multiple mapping position is suitable
Sequence；
The multiple mapping position is connected according to the order of connection, to generate the motion track.
5. the method according to claim 1, wherein generating the mesh according to the motion track information described
After motion track of the mark object on the plan view in target area, further includes:
In the case where the quantity of the motion track is more than or equal to 2, obtain similar between any two motion tracks
Degree；
In the case where the similarity is greater than first threshold, determine that two motion tracks are attached most importance to rerail mark；
It obtains and is determined as the quantity for repeating track in the target structures in each region；
Obtain the target area that the quantity for repeating track is greater than second threshold；
Periodic cleaning is carried out to the target area.
6. the method according to claim 1, wherein generating the mesh according to the motion track information described
After motion track of the mark object on the plan view in target area, further includes:
Determine the head and the tail endpoint of the motion track；
The time on regional location is appeared according to the target object, is remembered in the head and the tail endpoint subscript of the motion track
The moving direction of the target object.
7. a kind of track generating means characterized by comprising
First acquisition unit, it is obtained to Image Acquisition is carried out in target structures to be monitored for obtaining image capture device
Image data set；
Second acquisition unit, in the case where identifying target object from described image data set, according to described image
Data set obtains motion track information of the target object in the target structures；
Third acquiring unit, for obtaining the plan view of the target structures；
Generation unit is used to generate the target object according to the motion track information on the plan view in target area
Motion track.
8. device according to claim 7, which is characterized in that the second acquisition unit includes:
Identification module, for identification location of pixels where target object described in described image data set；
Determining module, for determining regional location of the target object in the target structures according to the location of pixels；
First generation module, for generating the motion track information of the target object using the regional location.
9. device according to claim 8, which is characterized in that the generation unit includes:
Module is obtained, for multiple regional locations in the motion track information to be sequentially mapped to the plan view
In, obtain multiple mapping positions；
Second generation module, for generating the motion track using the multiple mapping position in the plan view.
10. device according to claim 9, which is characterized in that second generation module includes:
It determines submodule, for appearing in the time on the regional location according to the target object, determines the multiple reflect
Penetrate the order of connection of position；
Submodule is generated, for connecting the multiple mapping position according to the order of connection, to generate the motion track.
11. device according to claim 7, which is characterized in that further include:
4th acquiring unit, for generating the target object in the plan view according to the motion track information described
After motion track in target area, in the case where the quantity of the motion track is more than or equal to 2, any two institutes are obtained
State the similarity between motion track；
First determination unit, for generating the target object in the plan view according to the motion track information described
After motion track in target area, in the case where the similarity is greater than first threshold, two moving rails are determined
Mark is attached most importance to rerail mark；
5th acquiring unit, for generating the target object in the plan view according to the motion track information described
After motion track in target area, obtains and be determined as the number for repeating track in the target structures in each region
Amount；
6th acquiring unit, for generating the target object in the plan view according to the motion track information described
After motion track in target area, the target area that the quantity for repeating track is greater than second threshold is obtained；
Unit is cleared up, for generating target object target on the plan view according to the motion track information described
After motion track in region, periodic cleaning is carried out to the target area.
12. device according to claim 7, which is characterized in that further include:
Second determination unit, for generating the target object in the plan view according to the motion track information described
After motion track in target area, the head and the tail endpoint of the motion track is determined；
Marking unit, for generating target object target on the plan view according to the motion track information described
After motion track in region, the time on regional location is appeared according to the target object, in the motion track
The head and the tail endpoint subscript remembers the moving direction of the target object.
13. a kind of storage medium, the storage medium includes the program of storage, wherein described program executes above-mentioned power when running
Benefit requires method described in 1 to 6 any one.
14. a kind of electronic device, including memory and processor, which is characterized in that be stored with computer journey in the memory
Sequence, the processor are arranged to execute method described in any one of claim 1 to 6 by the computer program.
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