CN111800604A - Method and device for detecting human shape and human face data based on gun and ball linkage - Google Patents
Method and device for detecting human shape and human face data based on gun and ball linkage Download PDFInfo
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- CN111800604A CN111800604A CN202010532483.5A CN202010532483A CN111800604A CN 111800604 A CN111800604 A CN 111800604A CN 202010532483 A CN202010532483 A CN 202010532483A CN 111800604 A CN111800604 A CN 111800604A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
- H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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Abstract
The invention provides a method and a device for detecting human shape and human face data based on gun and ball linkage, which comprises the following steps of firstly, obtaining a mapping relation between a gun camera and a ball machine based on corresponding coordinate positions; secondly, acquiring first video data acquired by a gunlock, and outputting first alarm information according to the first video data, wherein the first alarm information comprises a humanoid position coordinate; thirdly, second video data acquired by the dome camera are acquired according to the mapping relation, and second alarm information is output according to the second video data, wherein the second alarm information comprises face position coordinates; and fourthly, cutting out human-shaped pictures and human face pictures according to the human-shaped position coordinates and the human face position coordinates. Utilize the rifle ball linkage can be with the control overall situation, the function that can monitor local target detail again, with the target detail image information acquisition in the overall situation video, make things convenient for the platform to carry out accurate search and analysis, promote the experience effect that the customer used.
Description
Technical Field
The invention relates to the technical field of monitoring, in particular to a method and a device for detecting human shape and human face data based on gun and ball linkage.
Background
With the development of social science and technology, the security consciousness of people is improved, and the modern security technology is widely applied. The security technology develops towards networking, digitalization, intellectualization and modularization, and various advanced security measures are embedded, linked and complemented with each other, so that modern security products become mature and practical day by day. For example, video tracking systems may be used for monitoring of cells, traffic, etc. At present, video monitoring equipment is widely used in all corners of the society, brings leap development to social security, serves as 'eyes' of monitoring personnel, and with a monitoring system, people can see images transmitted on site, so that a key role is played for investigation afterwards, and scientific and reliable evidence is provided for case breaking.
However, the following problems exist in the current monitoring system: in a first aspect: the traditional humanoid candid camera transmits videos, human face pictures and structured data through a wired network, and the wiring cost is high; in a second aspect: if the 4G wireless mode is adopted for transmission, the problems of video delay, blockage, picture loss and the like are often caused due to the limitation of bandwidth; in a third aspect: traditional single-lens rifle bolts can shoot global fixed scene videos, but target detail pictures are difficult to capture, and when the details of human faces and targets are tracked, a speed dome loses the monitoring of panoramic videos.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the device for detecting the human shape and the human face data based on gun-ball linkage solve the problem that panoramic video monitoring is lost when target detail pictures are difficult to capture or human face target details are difficult to track during panoramic video monitoring.
In order to solve the technical problems, the invention adopts the technical scheme that:
the first aspect of the embodiment of the invention provides a method for detecting human shape and human face data based on gun and ball linkage, which comprises the following steps:
acquiring a mapping relation between the gunlock and the dome camera based on corresponding coordinate positions;
acquiring first video data acquired by a gunlock, and outputting first alarm information according to the first video data, wherein the first alarm information comprises a humanoid position coordinate;
acquiring second video data acquired by the dome camera according to the mapping relation, and outputting second alarm information according to the second video data, wherein the second alarm information comprises face position coordinates;
and cutting out human-shaped pictures and human face pictures according to the human-shaped position coordinates and the human face position coordinates.
Further, the obtaining of the mapping relationship between the bolt and the dome camera based on the corresponding coordinate positions includes:
5-10 groups of same coordinate points of the gun camera and the ball camera are collected, and a coordinate position mapping relation of detection areas of the gun camera and the ball camera is established.
Further, the first alarm information further includes a pedestrian ID and structured data, wherein the structured data includes: gender, age, clothing style, clothing color, and hair type.
And further, buffering the first alarm information and the second alarm information to an event linked list.
Further, second video data acquired by the dome camera are acquired according to the mapping relation, second alarm information is output according to the second video data, and the second alarm information comprises the position coordinates of the face:
acquiring the face position coordinates, comparing the face position coordinates with the coordinate position of the dome camera, and generating a PT command;
acquiring the size of the target size of the face, comparing the size with a preset target size, and generating a Z command;
and outputting the PT command and the Z command in real time.
Further, the PT command includes a P command and a T command, wherein the P command is a video X-axis direction motion, the T command is a video Y-axis direction motion, and the Z command is a zoom.
Further, the human-shaped picture and the human face picture are transmitted to the monitoring platform through 5G.
The second aspect of the embodiments of the present invention provides a device for detecting human shape and human face data based on gun and ball linkage, the device comprising:
the double-path video calibration module is used for acquiring the mapping relation between the gunlock and the dome camera based on the corresponding coordinate positions;
the system comprises a gunlock humanoid detection module, a first alarm information processing module and a second alarm information processing module, wherein the gunlock humanoid detection module is used for acquiring first video data acquired by a gunlock and outputting first alarm information according to the first video data, and the first alarm information comprises humanoid position coordinates;
the dome camera face detection module is used for acquiring second video data acquired by the dome camera according to the mapping relation and outputting second alarm information according to the second video data, wherein the second alarm information comprises face position coordinates;
and the cutting coding module is used for cutting out human-shaped pictures and human face pictures according to the human-shaped position coordinates and the human face position coordinates.
A third aspect of an embodiment of the present invention provides an electronic device, including: a storage device for storing one or more programs and one or more processors, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method according to the first aspect of an embodiment of the present invention.
A fourth aspect of embodiments of the present invention provides a storage medium having stored thereon executable instructions that, when executed, perform a method according to the first aspect of embodiments of the present invention.
The invention has the beneficial effects that: the invention provides a method for detecting human shape and human face data based on gun and ball linkage, which comprises the following steps of firstly, obtaining a mapping relation between a gun camera and a ball machine based on corresponding coordinate positions; secondly, acquiring first video data acquired by a gunlock, and outputting first alarm information according to the first video data, wherein the first alarm information comprises a humanoid position coordinate; thirdly, second video data acquired by the dome camera are acquired according to the mapping relation, and second alarm information is output according to the second video data, wherein the second alarm information comprises face position coordinates; and fourthly, cutting out human-shaped pictures and human face pictures according to the human-shaped position coordinates and the human face position coordinates. Utilize the rifle ball linkage can be with the control overall situation, the function that can monitor local target detail again, with the target detail image information acquisition in the overall situation video, make things convenient for the platform to carry out accurate search and analysis, promote the experience effect that the customer used.
Drawings
The detailed structure of the invention is described in detail below with reference to the accompanying drawings
Fig. 1 is a flowchart of a method for detecting human shape and face data based on gun and ball linkage according to a first embodiment of the present invention;
fig. 2 is a flowchart of a control method of a ball machine linkage according to a first embodiment of the present invention;
FIG. 3 is a block diagram of an apparatus for detecting human and face data based on a gun and ball linkage according to a second embodiment of the present invention;
FIG. 4 is a block diagram illustrating a transmission module of an apparatus for detecting human shape and face data based on gun and ball linkage according to a second embodiment of the present invention;
FIG. 5 is a block diagram of an electronic device according to a third embodiment of the present invention;
fig. 6 is a block diagram of a storage medium according to a fourth embodiment of the present invention.
Detailed Description
In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1, a first aspect of the embodiments of the present invention provides a method for detecting human shape and human face data based on gun and ball linkage, where the method includes the following steps:
s110, acquiring a mapping relation between the gunlock and the dome camera based on corresponding coordinate positions;
s120, acquiring first video data acquired by a gunlock, and outputting first alarm information according to the first video data, wherein the first alarm information comprises a humanoid position coordinate;
s130, second video data collected by the dome camera are obtained according to the mapping relation, and second alarm information is output according to the second video data, wherein the second alarm information comprises face position coordinates;
and S140, cutting out human-shaped pictures and human face pictures according to the human-shaped position coordinates and the human face position coordinates.
The first aspect of the embodiment of the invention provides a method for detecting human shape and human face data based on gun-ball linkage, which comprises the steps of firstly, establishing a mapping relation of detection area coordinates of a gun camera and a ball camera, providing a mapping rule for correlation analysis of subsequent gun-ball linkage target positions, collecting original data from an image sensor by the gun camera and the ball camera, carrying out image processing through an ISP (internet service provider) module, and outputting original video frame data in a YUV (YUV) format at a certain time; then, the original video data is input into an algorithm module in a YUV format data frame, and is responsible for analyzing each frame of first video data YUV generated by the gun bolt and outputting first alarm information, wherein the first alarm information is at least a humanoid position coordinate; then, converting the output human-shaped position coordinates into the position coordinates of the area where the image of the dome camera is located through a calibrated mapping rule, analyzing each frame of second video data YUV generated by the dome camera, and outputting second alarm information, wherein the second alarm information at least comprises the position coordinates of the human face; firstly, encoding first original video frame data at a certain time to generate first video frame data, then cutting out a human-shaped picture from the complete first video frame data according to first alarm information, and generating a human face picture according to the same processing method.
In the present embodiment, the images collected by the dome camera and the gun camera are divided into regions, and rectangular frames are assigned to the corresponding target regions to form rectangular coordinates, such as human-shaped position coordinates [ start point (1200,400), end point (1500,500) ].
It should be understood that, in the present embodiment, the method for collecting the raw data is that after the optical signal is projected to the photosensitive area of the image sensor through the lens, the image sensor is photoelectrically converted, and the raw image in the Bayer format is sent to the ISP module.
It should be noted that the image sensor used in the present embodiment is a cmos image sensor.
Further, acquiring the mapping relation between the gunlock and the dome camera based on the corresponding coordinate positions comprises:
5-10 groups of same coordinate points of the gun camera and the ball camera are collected, and a coordinate position mapping relation of detection areas of the gun camera and the ball camera is established.
It should be noted that, by means of manual collection (the camera can set collection points to the web page), the gunlock and the dome camera collect 5 to 10 groups of the same coordinate points.
Further, the first alarm information further includes a pedestrian ID, a first timestamp, and structured data, wherein the structured data includes: gender, age, clothing style, clothing color, and hair type.
It should be noted that, the pedestrian ID is that each pedestrian has a unique number; in this embodiment, the styles of the clothes include an upper garment style and a lower garment style, and the colors of the clothes include an upper garment color and a lower garment color. The structured data also comprises wearing and not wearing glasses, wearing and not wearing a mask, wearing and not wearing a hat, carrying and not carrying a handbag, holding and not holding a child, and holding and not holding an umbrella, so that a user can conveniently identify pedestrians according to detailed characteristics; the same second alarm information further includes: a face ID, a second timestamp, wherein the face ID is consistent with the pedestrian ID.
And further, buffering the first alarm information and the second alarm information to an event linked list.
Further, please refer to fig. 2, second video data collected by the dome camera is obtained, and second alarm information is output according to the second video data, where the second alarm information includes a face position coordinate:
acquiring face position coordinates, comparing the face position coordinates with the coordinate positions of the dome cameras, and generating a PT command;
acquiring the size of a human face target, comparing the size with a preset target size, and generating a Z command;
outputting the PT command and the Z command in real time.
Firstly, obtaining face position coordinates, determining the rectangular central position of the face position coordinates, and then comparing the central position of the full screen of the dome camera to generate a PT command; and acquiring the size of the rectangle of the face target, comparing the preset target rectangle size, generating a Z command, and outputting the PT command and the Z command in real time.
Further, the PT commands include a P command and a T command, wherein the P command is a video X-axis direction motion, the T command is a video Y-axis direction motion, and the Z command is a zoom.
Firstly, encoding original video frame data in a YUV format at a certain moment to generate first video frame data and second video frame data, judging whether the original video frame data is positioned at a coordinate position at the moment according to a first time stamp and a human shape position coordinate, and cutting out a corresponding human shape picture according to the first time stamp, the human shape position coordinate, a pedestrian ID and other first alarm information if the original video frame data is positioned at the coordinate position at the moment; if not, the timestamp is reselected. And cutting out a corresponding human-shaped picture from a corresponding rectangular coordinate position of the complete first video frame data, wherein the picture is in a YUV format, and finally, the encoder encodes the human-shaped picture under a first time stamp according to the pedestrian ID, such as cutting out the human-shaped picture in the YUV format according to a human-shaped position coordinate [ a starting point (1200,400) and an end point (1500,500) ], and similarly, cutting out the human-face picture according to the same method.
It should be noted that, in this embodiment, the encoder adopts an MJPEG encoder, and can encode the YUV format picture data into the JPG format picture data.
Further, the human-shaped picture and the human face picture are transmitted to the monitoring platform through 5G.
Referring to fig. 3 and 4, a second aspect of the present invention provides an apparatus 100 for detecting human form and face data based on rifle-ball linkage, the apparatus 100 comprising:
the double-path video calibration module 101 is used for acquiring a mapping relation between the gunlock and the dome camera based on corresponding coordinate positions;
the gunlock humanoid detection module 102 is used for acquiring first video data acquired by a gunlock and outputting first alarm information according to the first video data, wherein the first alarm information comprises humanoid position coordinates;
the dome camera face detection module 103 is used for acquiring second video data acquired by the dome camera according to the mapping relation and outputting second alarm information according to the second video data, wherein the second alarm information comprises face position coordinates;
and the cutting coding module 104 is used for cutting out human-shaped pictures and human face pictures according to the human-shaped position coordinates and the human face position coordinates, and can also be used for coding and converting data.
The robot comprises a robot body, a robot linkage module 105, a robot control module and a control module, wherein the robot body is used for realizing robot linkage control;
and the transmission module 106 is used for transmitting the videos, the human-shaped pictures, the human face pictures and the structured data to a rear-end video monitoring platform through a 5G wireless network.
It should be noted that, in this embodiment, the transmission module 106 sends a connection establishment request to a specified camera (for example, 192.168.1.100) through the monitoring platform, and the camera agrees and returns a response after receiving the request; the monitoring platform sends a video and picture request to a specified camera, and the camera returns the video, the human-shaped picture and the structured data to the monitoring platform after receiving the request; the monitoring platform sends a disconnection request to the appointed camera, and the camera agrees to disconnection and returns a response after receiving the request. Wherein, the adopted connection mode is 5G network connection.
Referring to fig. 5, an electronic device 200 according to a third embodiment of the invention includes:
a storage device 201 and one or more processors 202, the storage device 201 being configured to store one or more programs, wherein the one or more programs, when executed by the one or more processors 202, cause the one or more processors 202 to perform the method for transmitting video, human-shaped pictures and structured data based on 5G as provided by the first embodiment of the present invention.
Referring to fig. 6, a storage medium 300 according to a fourth embodiment of the present invention has executable instructions 301 stored thereon, and when the executable instructions 301 are executed, the method for transmitting video, human-shaped pictures and structured data based on 5G according to the first embodiment of the present invention is performed.
In summary, the method and the device for detecting human shape and human face data based on gun and ball linkage provided by the invention have the beneficial effects that:
firstly, acquiring a mapping relation between a gunlock and a dome camera based on corresponding coordinate positions; secondly, acquiring first video data acquired by a gunlock, and outputting first alarm information according to the first video data, wherein the first alarm information comprises a humanoid position coordinate; thirdly, second video data acquired by the dome camera are acquired according to the mapping relation, and second alarm information is output according to the second video data, wherein the second alarm information comprises face position coordinates; and fourthly, cutting out human-shaped pictures and human face pictures according to the human-shaped position coordinates and the human face position coordinates. Utilize the rifle ball linkage can be with the control overall situation, the function that can monitor local target detail again, with the target detail image information acquisition in the overall situation video, make things convenient for the platform to carry out accurate search and analysis, promote the experience effect that the customer used. Adopt 5G transmission not only to solve traditional wired installation wiring cost height, solve 4G wireless mode bandwidth restriction moreover, the transmission delays the card problem of pausing, reduces use cost, increases the experience effect that the customer used, promotes the satisfaction.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk), among others.
It should be noted that, in the summary of the present invention, each embodiment is described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the product class embodiment, since it is similar to the method class embodiment, the description is relatively simple, and for the relevant points, refer to the partial description of the method embodiment.
It is further noted that, in the present disclosure, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined in this disclosure may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for detecting human shape and human face data based on gun and ball linkage is characterized in that: the method comprises the following steps:
acquiring a mapping relation between the gunlock and the dome camera based on corresponding coordinate positions;
acquiring first video data acquired by a gunlock, and outputting first alarm information according to the first video data, wherein the first alarm information comprises a humanoid position coordinate;
acquiring second video data acquired by the dome camera according to the mapping relation, and outputting second alarm information according to the second video data, wherein the second alarm information comprises face position coordinates;
and cutting out human-shaped pictures and human face pictures according to the human-shaped position coordinates and the human face position coordinates.
2. The method for detecting human form and face data based on rifle-ball linkage as claimed in claim 1, wherein: the acquiring of the mapping relation between the gunlock and the dome camera based on the corresponding coordinate positions comprises the following steps:
5-10 groups of same coordinate points of the gun camera and the ball camera are collected, and a coordinate position mapping relation of detection areas of the gun camera and the ball camera is established.
3. The method for detecting human form and face data based on rifle-ball linkage as claimed in claim 1, wherein: the first alarm information further includes a pedestrian ID and structured data, wherein the structured data includes: gender, age, clothing style, clothing color, and hair type.
4. The method for detecting human form and face data based on rifle-ball linkage as claimed in claim 3, wherein: and buffering the first alarm information and the second alarm information to an event linked list.
5. The method for detecting human form and face data based on rifle-ball linkage as claimed in claim 4, wherein: acquiring second video data acquired by the dome camera according to the mapping relation, and outputting second alarm information according to the second video data, wherein the second alarm information comprises face position coordinates:
acquiring the face position coordinates, comparing the face position coordinates with the coordinate position of the dome camera, and generating a PT command;
acquiring the size of the target size of the face, comparing the size with a preset target size, and generating a Z command;
and outputting the PT command and the Z command in real time.
6. The method for detecting human form and face data based on rifle-ball linkage as claimed in claim 5, wherein: the PT commands comprise P commands and T commands, wherein the P commands are video X-axis direction movement, the T commands are video Y-axis direction movement, and the Z commands are lens zooming.
7. The method for detecting human form and face data based on rifle-ball linkage as claimed in claim 6, wherein: and the human-shaped picture and the human face picture are transmitted to the monitoring platform through 5G.
8. The utility model provides a device based on rifle ball linkage detects humanoid and people's face data which characterized in that includes:
the double-path video calibration module is used for acquiring the mapping relation between the gunlock and the dome camera based on the corresponding coordinate positions;
the system comprises a gunlock humanoid detection module, a first alarm information processing module and a second alarm information processing module, wherein the gunlock humanoid detection module is used for acquiring first video data acquired by a gunlock and outputting first alarm information according to the first video data, and the first alarm information comprises humanoid position coordinates;
the dome camera face detection module is used for acquiring second video data acquired by the dome camera according to the mapping relation and outputting second alarm information according to the second video data, wherein the second alarm information comprises face position coordinates;
and the cutting coding module is used for cutting out human-shaped pictures and human face pictures according to the human-shaped position coordinates and the human face position coordinates.
9. An electronic device, comprising: a storage device to store one or more programs, and one or more processors to cause the one or more processors to perform the method of any of claims 1-7 when the one or more programs are executed by the one or more processors.
10. A storage medium having stored thereon executable instructions that, when executed, perform the method of any one of claims 1-7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113189630A (en) * | 2021-04-29 | 2021-07-30 | 中核国电漳州能源有限公司 | Large-range construction site personnel identification and positioning method for tower crane installation monitoring |
| CN113658276A (en) * | 2021-08-24 | 2021-11-16 | 杭州微影软件有限公司 | Gun ball calibration data acquisition method, gun ball calibration method, device and electronic equipment |
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