Detailed Description
The terminology used in the description of the embodiments of the application herein is for the purpose of describing particular embodiments of the application only and is not intended to be limiting of the application.
As shown in fig. 1, fig. 2 and fig. 3, fig. 1 is a flowchart of a target positioning method in an embodiment of the present application, fig. 2 is a schematic diagram of a state of a radar antenna array in a spatial coordinate system in an embodiment of the present application, and fig. 3 is a schematic diagram of a state of a camera in a spatial coordinate system in an embodiment of the present application, an embodiment of the present application provides a target positioning method for a millimeter wave radar antenna array and a camera with an adjustable lens direction, where the target positioning method includes:
step 101, acquiring radar detection coordinates corresponding to a target to be positioned;
step 102, determining whether a target to be positioned is positioned on a slope or on a flat ground;
step 103, if the target to be positioned is positioned on the flat ground, converting radar detection coordinates corresponding to the target to be positioned into camera detection coordinates according to a flat ground coordinate mapping relation, wherein the flat ground coordinate mapping relation is used for reflecting the relation between the radar detection coordinates on the flat ground and the camera detection coordinates;
Wherein, as shown in fig. 2, for example, a spatial coordinate system is defined in three coordinate axes of x, y and z, the radar detection coordinates are two-dimensional coordinates for reflecting two physical quantities related to the target position detected by the radar antenna, the radar detection coordinates and the spatial coordinates have a mapping relationship, and similarly, as shown in fig. 3, in the same spatial coordinate system, the camera detection coordinates also have a mapping relationship with the spatial coordinates. The land leveling coordinate mapping relationship may include a land leveling radar coordinate mapping relationship and a land leveling camera coordinate mapping relationship, the land leveling radar coordinate mapping relationship is used for reflecting a relationship between a land leveling radar coordinate and a space coordinate, the land leveling camera mapping relationship is used for reflecting a relationship between the land leveling camera and the space coordinate, and since a z-axis coordinate in the space coordinate corresponding to the land leveling is a determined value, the land leveling camera coordinate mapping relationship and the land leveling radar coordinate mapping relationship may be combined to obtain the land leveling radar coordinate mapping relationship for reflecting a relationship between the land leveling radar coordinate and the camera coordinate, and for a target on the land, the radar detection coordinate may be directly converted into the camera detection coordinate according to the land leveling coordinate mapping relationship so as to assist the camera in realizing monitoring through the radar.
104, if the target to be positioned is located on the slope, converting radar detection coordinates corresponding to the target to be positioned into camera detection coordinates according to a slope radar coordinate mapping relation, a slope camera coordinate mapping relation and a slope plane equation, wherein the slope radar coordinate mapping relation is used for reflecting the relation between the radar detection coordinates and the space coordinates on the slope, and the slope camera coordinate mapping relation is used for reflecting the relation between the camera detection coordinates and the space coordinates on the slope.
For the object on the slope, since the z-axis coordinate in the spatial coordinate corresponding to the slope is unknown, the conversion between the radar coordinate and the camera coordinate needs to be implemented according to the slope plane equation, the slope radar coordinate mapping relation and the slope camera coordinate mapping relation.
According to the target positioning method provided by the embodiment of the application, through determining the slope radar coordinate mapping relation, the slope camera coordinate mapping relation and the slope plane equation, even if the radar only has two-dimensional detection coordinates, the coordinate conversion between the radar coordinates and the camera coordinates can be realized according to the mapping relation and the slope plane equation, so that the positioning of the target on the slope terrain is realized through the cooperation of the two-dimensional radar and the camera, and the cost of the radar is reduced.
Optionally, as shown in fig. 4, fig. 4 is a flowchart of another target positioning method according to an embodiment of the present application, before the step 101 of obtaining the radar detection coordinates corresponding to the target to be positioned, the method further includes:
step 201, selecting a plurality of slope calibration targets located at different heights on a slope, and acquiring a group of slope detection coordinates corresponding to each slope calibration target, wherein each group of slope detection coordinates comprises radar detection coordinates and camera detection coordinates;
the calibration reference can be a corner reflector or other objects with certain electromagnetic wave reflecting capability, and can be detected by a radar and a camera. The calibration reference may be a stationary object or a moving object, for example, the plurality of calibration targets may be independent objects respectively located at different positions, or may be the same object respectively located at different positions as different calibration targets.
And 202, obtaining a slope radar coordinate mapping relation, a slope camera coordinate mapping relation and a slope plane equation according to detection coordinates corresponding to a plurality of slope calibration targets.
Optionally, as shown in fig. 4, before the step 101 of acquiring the radar detection coordinates corresponding to the target to be located, the method further includes:
Step 301, selecting a plurality of flat-land marked targets positioned on a flat land, and acquiring a group of flat-land detection coordinates corresponding to each flat-land marked target, wherein each group of flat-land detection coordinates comprises radar detection coordinates and camera detection coordinates;
and 302, obtaining a land leveling coordinate mapping relation according to the detection coordinates corresponding to the plurality of land leveling targets.
Specifically, the ramp has a determined ramp plane equation, which may be represented By the ternary once equation ax+by+cz+d=0, A, B, C, D being a constant, the process of determining the ramp plane equation may be at a slopeFour calibration targets are selected at different heights of the slope, and the actual space coordinates of the four calibration targets are obtained, for example, the space coordinates of the four calibration targets are (x)1 ,y1 ,z1 )，(x2 ,y2 ,z2 )，(x3 ,y3 ,z3 )，(x4 ,y4 ,z4 ) Substituting the four coordinates into a ternary one-time equation to form an equation setSolving the equation set can calculate a value A, B, C, D to obtain the slope plane equation, and if the junction of the land and the slope is calibrated in the process of calibrating the land, the coordinate can be used as one of the calibration coordinates of the slope plane equation at the same time, and only three coordinates need to be calibrated on the slope. When radar monitoring and camera monitoring are simultaneously carried out on the targets on the slope, for a certain target, the target simultaneously meets the slope radar coordinate mapping relation, the slope camera coordinate mapping relation and the slope plane equation, when a certain calibration target is selected, radar detection coordinates of the calibration target can be obtained through a radar, camera detection coordinates of the calibration target can be obtained through a camera, and the space coordinates of the calibration target are known to meet the slope plane equation. In the steps 201 and 202, steps 301 and 302 are land leveling calibration, the order between the calibration steps of the two terrains is not limited, for example, the land leveling may be performed first, then the slope may be performed, or the land leveling may be performed first, however, since the mapping relationship of the land leveling is simpler than that of the slope, the land leveling is performed first, and the land leveling is more convenient, so that the land leveling is performed in the two terrains After determining the corresponding mapping relation, it is required to determine whether the target to be positioned is located on a slope or a flat ground, and then the conversion of the detection coordinates is performed in step 103 or 104 according to the corresponding mapping relation.
Optionally, the ramp radar coordinate mapping relationship is:
as shown in FIG. 2, the radar detection coordinates are (R, θ), R is the length of a first connection line L1, θ is the angle between the first connection line L1 and a first plane, and may also be referred to as θ being the azimuth angle of the radar detected target, the first connection line L1 is the connection line between the center of the radar antenna array and the target to be positioned, the first plane is the plane where y and z are located in the space coordinate system, the radiation plane of the radar antenna array faces the y-axis direction in the space coordinate system, the radiation plane of the radar antenna array faces the direction of the radiation and receiving beams thereof, the plane of the radar antenna array is perpendicular to the flat ground, the z-axis direction in the space coordinate system is perpendicular to the flat ground, the z-axis coordinate of the flat ground is 0, HR For the height of the center of the radar antenna array, i.e. the distance between the center of the radar antenna array and the flat ground, HT Is the height of the target, i.e. the distance between the target and the flat ground;
as shown in fig. 3, the slope camera coordinate mapping relationship is:
The detection coordinates of the camera are (p, t), the camera is a camera with an adjustable lens direction, the horizontal angle and the pitch angle can be adjusted, the angle of the camera is adjusted when the camera is used for monitoring, the center of the bottom of the target is positioned at the center of a camera picture, the pitch angle of the camera is positioned at the center of the camera picture when t is the center of the bottom of the target, p is the horizontal angle of the camera when the center of the bottom of the target is positioned at the center of the camera picture, and HC For the height of the camera, E is a 2×2 rotation matrix, and T is 2×1The translation vector, alpha is the difference of azimuth angles when the radar antenna array and the camera are installed, namely the included angle between the direction of the radiation surface of the radar antenna array and the direction of the camera when the radar antenna array and the camera are installed, deltax is the difference of x-axis coordinates of the installation positions of the radar antenna array and the camera, and Deltay is the difference of y-axis coordinates of the installation positions of the radar antenna array and the camera.
In the formula of the slope camera coordinate mapping relation, 5 unknown quantities are all calculated through a plurality of equations, two equations can be obtained by setting one calibration target, and at least the radar detection coordinates and the camera detection coordinates of the calibration target are respectively obtained by setting 3 calibration targets, so that the slope radar coordinate mapping relation and the slope camera coordinate mapping relation can be obtained.
The land leveller coordinate mapping relation is as follows:
the coordinate mapping relation of the land leveling cameras is as follows:
when the camera and the radar antenna array are arranged on the same bracket, deltax and deltay can be considered to be 0, and only 2 calibration targets are required to be set, so that the coordinate mapping relation of the land-leveling radar and the coordinate mapping relation of the land-leveling camera can be obtained.
For example, in the above step 301, three calibration targets located on the land are selected, and in step 302, a land-level radar coordinate mapping relationship and a land-level camera coordinate mapping relationship are obtained, and then in step 201, at least 3 calibration targets located on the slope are selected to obtain a slope radar coordinate mapping relationship:
the slope camera coordinate mapping relation is as follows:
slope plane equation S: ax+by+cz+d=0, and the slope plane equation S is matched with the two coordinate mapping relations, so that conversion between radar coordinates and camera coordinates on the slope can be realized.
It should be further noted that, for a scenario in which no calibration is performed on a flat ground, or only the slope topography is monitored, the plane equation S of the slope may be obtained by setting at least 4 calibration targets.
After the calibration and the calculation of the coordinate mapping relationship are completed, when the actual target is located, it is first determined in step 102 whether the target to be located is located on a slope or on a flat ground, if the target to be located on the flat ground is located on the flat ground, the coordinate conversion result can be directly obtained according to the coordinate mapping relationship on the flat ground, and if the target to be located on the slope is located on the flat ground, the coordinate conversion result is required to be obtained according to the coordinate mapping relationship and a plane equation of the slope.
Optionally, as shown in fig. 5, fig. 5 is a flowchart of another object positioning method according to an embodiment of the present application, where the determining, in step 102, whether the object to be positioned is located on a slope or on a flat ground includes:
step 1021, determining the intersection line position between the slope and the land;
step 1022, the object to be positioned is positioned on the flat ground, the space coordinates of the object to be positioned at the moment are used as judging coordinates, and whether the object to be positioned is positioned on the slope or the flat ground is determined according to the position relation between the judging coordinates and the intersecting line.
Specifically, according to the plane equation S of the slope: the intersection line L between S and the plane (land) of z=0 can be calculated, where the intersection line L is a boundary between the land and the slope, so, if the spatial coordinates of the target are known, it can be determined whether the target is located on the land or on the slope, the target to be located is located on the land first, the spatial coordinates of the target to be located are obtained, and the spatial coordinates are compared with the intersection line L to determine on which terrain the target to be located is located.
Optionally, as shown in fig. 6, fig. 6 is a flowchart of another method for positioning an object in an embodiment of the present application, where the first detection coordinate is a radar detection coordinate, step 1022 is to locate the object to be positioned on a level ground, and the process of determining, according to the positional relationship between the determination coordinate and the intersection line, whether the object to be positioned is located on a slope or on the level ground, using the spatial coordinate of the object to be positioned at the time as the determination coordinate includes:
Step 1022, enabling z=0 in the slope radar coordinate mapping relation, taking the space coordinate of the target to be positioned at the moment as a judgment coordinate, and determining whether the target to be positioned is positioned on a slope or on a flat ground according to the position relation between the judgment coordinate and the intersection line;
step 103, if the target to be positioned is on the land, the process of converting the radar detection coordinate corresponding to the target to be positioned into the camera detection coordinate according to the land coordinate mapping relationship includes:
step 1030, substituting the judgment coordinates into the land level coordinate mapping relation to obtain the detection coordinates of the camera corresponding to the target to be positioned;
step 104, if the target to be positioned is located on the slope, the process of converting the radar detection coordinate corresponding to the target to be positioned into the camera detection coordinate according to the slope radar coordinate mapping relation, the slope camera coordinate mapping relation and the slope plane equation includes:
step 1040, obtaining the actual space coordinates of the target to be positioned according to the slope radar coordinate mapping relation and the plane equation of the slope, substituting the actual space coordinates of the target to be positioned into the slope camera coordinate mapping relation, and obtaining the camera detection coordinates corresponding to the target to be positioned.
Optionally, in the horizontal direction, the camera and the radar antenna array are located at the same position, Δx=0, Δy=0. The horizontal direction is the plane direction in which x and y are located, namely, the camera and the radar antenna array are located on the same support, at the moment, the mapping relation between the radar coordinates and the camera coordinates is simpler, the number of targets required to be calibrated is small, and the method is beneficial to reducing the complexity of calculation in the target positioning process.
Optionally, as shown in fig. 7, fig. 7 is a schematic diagram of a topography of a monitoring scene in an embodiment of the present application, the slope is an upward slope relative to a flat ground, the radar antenna array and the camera are located on the flat ground, the radiation surface of the radar antenna array and the lens direction of the camera face the slope, the detection range of the radar antenna array and the camera includes the flat ground and the slope, wherein the radiation surface of the radar antenna array faces the direction of the radar antenna radiation and the receiving beam, the plane of the radar antenna array is perpendicular to the flat ground, and under the scene shown in fig. 7, the camera and the radar are not blocked, so that the flat ground and the slope can be monitored; or, as shown in fig. 8, fig. 8 is a schematic diagram of the terrain of another monitoring scene in the embodiment of the present application, the slope is an upward slope relative to the flat ground, the radar antenna array and the camera are located on the slope, the radiation surface of the radar antenna array and the lens direction of the camera face the flat ground, the plane on which the radar antenna array is located is perpendicular to the flat ground, the detection ranges of the radar and the camera include the flat ground and the slope, and fig. 8 is similar to fig. 7, and the flat ground and the slope can be monitored simultaneously by the radar and the camera. In other monitoring scenarios, for example, if the slope is a downhill slope relative to a flat ground, the camera and radar are disposed on the flat ground, the camera and radar may be blocked by the flat ground when detecting the downhill slope, thus corresponding to a scenario of monitoring only the flat ground; for another example, if the slope is a downhill slope with respect to the flat ground, the camera and the radar are disposed on the slope, the camera and the radar may be blocked by the flat ground when detecting the flat ground, thus corresponding to a scene in which only the slope is monitored.
The following further describes an embodiment of the present application by taking a specific target positioning procedure as an example.
Height H of radar antenna array centerR Height H of camera is 2mC In step 301, three calibration targets are selected on the flat ground, and radar detection coordinates of the three calibration targets obtained by radar measurement are (R1 ,θ1 )＝(22.45m,22.61°)，(R2 ,θ2 )＝(15.94m,18.28°)，(R3 ,θ3 ) = (31.69 m,18.40 °). The cameras are respectively aligned with the three calibration targets, and the detection coordinates of the cameras for obtaining the three calibration targets are respectively (p)1 ,t1 )＝(20.56°,9.96°)，(p2 ,t2 )＝(5.19°,15.20°)，(p3 ,t3 ) = (12.99 °,6.41 °). In the above step 302, the above data is substituted into the land-leveling camera coordinate mapping relationship, i.e. the following equation,
yielding α=0°, Δx= -4m, Δy= -4m, hR ＝2m，HC =3m. And obtaining the determined land leveling coordinate mapping relation.
In the step 201, three calibration targets located at different heights on the slope are selected, and radar detection coordinates of the three calibration targets are obtained by radar as (Rs1 ,θs1 )＝(40.34m,7.12°)，(Rs2 ,θs2 )＝(61.48m,9.36°)，(Rs3 ,θ53 ) = (103.20 m,5.56 °). The three calibration targets are respectively aligned by the cameras, and the detection coordinates of the cameras for obtaining the three calibration targets are respectively (p)s1 ,ts1 )＝(1.59°,-1.02°)，(ps2 ,ts2 )＝(6.12°,-8.00°)，(ps1 ,ts1 ) = (3.58 ° -13.15 °). According to the three groups of detection coordinates, the slope radar coordinate mapping relation and the slope camera coordinate mapping relation,
The spatial coordinates of the three calibration targets can be calculated to be (x)1 ,y1 ,z1 )＝(5m,40m,3.64m)，(x2 ,y2 ,z2 )＝(10m,60m,10.92m)，(x3 ,y3 ,z3 ) = (10 m,100m,25.48 m), and the plane equation S that can obtain the slope in the above step 302 is sin (20 °) (y-30) +cos (20 °) z=0, and it is determined in the above step 1021 that the intersection line between the slope and the ground is located at y=30m.
If the radar detection coordinate of the target to be located is (R, θ) = (50.763 m,7.926 °), z=0 in the slope radar coordinate mapping relationship is made in step 1022, and the corresponding spatial coordinate is obtained according to the radar detection coordinate of the target to be located is (x, y, z) = (7 m,50.23m,0 m), and compared with y=30, 50 > 30, i.e. the target to be located is located on the slope, in step 1040, the following is obtained according to the slope radar coordinate mapping relationship and the geometric relationship in fig. 2, where R, θ and the spatial coordinate in the radar detection coordinate satisfy:
also known is a slope whose plane equation S is sin (20 °) (y-30) +cos (20 °) z=0, and the following equation set can be obtained by simultaneous equation sets of the above three equations and substituting radar detection coordinates (R, θ) = (50.763 m,7.926 °) into the equation sets:
the system of equations may be solved to obtain the spatial coordinates of the object to be positioned as (x, y, z) = (7 m,50m,7.279 m), wherein,Can be replaced by->Solving, substituting the spatial coordinates of the target to be positioned into the slope camera coordinate mapping relation, and obtaining the camera detection coordinates corresponding to the target to be positioned as (p, t) =(3.731°,-5.304°)。
In addition to converting the radar detection coordinates of the target to be positioned into the camera detection coordinates, if the camera detection coordinates of the target to be positioned are (p, t) = (5.440 °,8.094 °), the linear equation of the connecting line between the camera and the target to be positioned may be determined as:
the intersection point of the straight line and the land is (x, y, z) = (6 m,25m,0 m), wherein 25 is less than 30, namely the target to be positioned is positioned on the land, and the intersection point coordinates are substituted into the land radar coordinate mapping relation to obtain radar detection coordinates of the target to be positioned as (R, theta) = (25.788 m,13.454 degrees).
On the other hand, as shown in fig. 9, fig. 9 is a block diagram of a target positioning device in an embodiment of the present application, and the embodiment of the present application further provides a target positioning device, which is used for a millimeter wave radar antenna array and a camera with adjustable lens direction, where the device includes: the acquisition module 1 is used for acquiring radar detection coordinates corresponding to a target to be positioned; a determining module 2 for determining whether the object to be positioned is located on a slope or on a level ground; the conversion module 3 is used for converting the radar detection coordinates corresponding to the target to be positioned into the camera detection coordinates according to the land-level coordinate mapping relation if the target to be positioned is positioned on the land, and the land-level coordinate mapping relation is used for reflecting the relation between the radar detection coordinates on the land and the camera detection coordinates; the conversion module 3 is further configured to convert, if the target to be positioned is located on the slope, the radar detection coordinate corresponding to the target to be positioned into the camera detection coordinate according to a slope radar coordinate mapping relationship, a slope camera coordinate mapping relationship and a slope plane equation, where the slope radar coordinate mapping relationship is used for reflecting a relationship between the radar detection coordinate and the spatial coordinate on the slope, and the slope camera coordinate mapping relationship is used for reflecting a relationship between the camera detection coordinate and the spatial coordinate on the slope. The specific working process and principle of the target positioning device can be the same as those of the above embodiment, and will not be described herein.
Optionally, in the step that the conversion module 3 is configured to execute, the ramp radar coordinate mapping relationship is:
the radar detection coordinate is (R, theta), R is the length of a first connecting line, theta is the included angle between the first connecting line and a first plane, the first connecting line is the connecting line between the center of the radar antenna array and the target to be positioned, the first plane is the plane where y and z are located in a space coordinate system, the radiation plane of the radar antenna array faces the y-axis direction in the space coordinate system, the plane where the radar antenna array is located is vertical to the flat ground, the z-axis direction in the space coordinate system is vertical to the flat ground, the z-axis coordinate of the flat ground is 0HR Is the height of the center of the radar antenna array, HT A height that is the target;
the mapping relation of the coordinates of the slope camera is as follows:
the detection coordinates of the camera are (p, t), t is the pitch angle of the camera when the center of the bottom of the target to be positioned is positioned at the center of the picture of the camera, p is the horizontal angle of the camera when the center of the bottom of the target to be positioned is positioned at the center of the picture of the camera, and HC The height of the camera is 2 x 2, the E is a rotation matrix, the T is a translation vector of 2 x 1, the alpha is the difference of azimuth angles when the radar antenna array and the camera are installed, the delta x is the difference of x-axis coordinates of the installation positions of the radar antenna array and the camera, and the delta y is the difference of y-axis coordinates of the installation positions of the radar antenna array and the camera.
Optionally, in the step for executing by the determining module 2, the process of determining whether the object to be positioned is located on a slope or on a level ground includes:
determining the intersection position between the slope and the land;
and the object to be positioned is positioned on the flat ground, the space coordinates of the object to be positioned at the moment are used as judging coordinates, and whether the object to be positioned is positioned on the slope or the flat ground is determined according to the position relation between the judging coordinates and the intersecting line.
Optionally, in the step executed by the determining module 2, the process of locating the target to be located on the flat ground, taking the space coordinate of the target to be located at the moment as the judgment coordinate, and determining whether the target to be located on the slope or on the flat ground according to the position relationship between the judgment coordinate and the intersection line includes:
enabling z=0 in the slope radar coordinate mapping relation, taking the space coordinate of the target to be positioned at the moment as a judging coordinate, and determining whether the target to be positioned is positioned on a slope or on a flat ground according to the position relation between the judging coordinate and an intersecting line;
if the target to be positioned is positioned on the flat ground, the process of converting the radar detection coordinate corresponding to the target to be positioned into the camera detection coordinate according to the mapping relation of the flat ground coordinate comprises the following steps:
Substituting the judging coordinates into the land coordinate mapping relation to obtain the detection coordinates of the camera corresponding to the target to be positioned;
if the target to be positioned is positioned on the slope, the process of converting the radar detection coordinate corresponding to the target to be positioned into the camera detection coordinate according to the slope radar coordinate mapping relation, the slope camera coordinate mapping relation and the slope plane equation comprises the following steps:
according to the slope radar coordinate mapping relation and the slope plane equation, obtaining the actual space coordinate of the target to be positioned, substituting the actual space coordinate of the target to be positioned into the slope camera coordinate mapping relation, and obtaining the camera detection coordinate corresponding to the target to be positioned.
Optionally, in the horizontal direction, the camera and the radar antenna array are located at the same position, Δx=0, Δy=0.
Optionally, the slope is an upward slope relative to the flat ground, the radar antenna array and the camera are positioned on the flat ground, the radiation surface of the radar antenna array and the lens direction of the camera face the slope, the detection range of the radar antenna array and the camera comprises the flat ground and the slope, and the plane of the radar antenna array is perpendicular to the flat ground;
or the slope is an upward slope relative to the flat ground, the radar antenna array and the camera are positioned on the slope, the radiation surface of the radar antenna array and the lens direction of the camera face the flat ground, the detection range of the radar and the camera comprises the flat ground and the slope, and the plane of the radar antenna array is perpendicular to the flat ground.
Optionally, the acquiring module 1 is further configured to, before acquiring radar detection coordinates corresponding to the target to be located:
selecting a plurality of slope calibration targets positioned at different heights on a slope, and acquiring a group of slope detection coordinates corresponding to each slope calibration target, wherein each group of slope detection coordinates comprises radar detection coordinates and camera detection coordinates;
and obtaining a slope radar coordinate mapping relation, a slope camera coordinate mapping relation and a slope plane equation according to the detection coordinates corresponding to the plurality of slope calibration targets.
Optionally, the acquiring module 1 is further configured to, before acquiring radar detection coordinates corresponding to the target to be located:
selecting a plurality of flat-land marked targets positioned on a flat land, and acquiring a group of flat-land detection coordinates corresponding to each flat-land marked target, wherein each group of flat-land detection coordinates comprises radar detection coordinates and camera detection coordinates;
and obtaining a land leveling coordinate mapping relation according to the detection coordinates corresponding to the plurality of land leveling marked targets.
It should be understood that the above division of the modules of the object positioning device shown in fig. 9 is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; it is also possible that part of the modules are implemented in the form of software called by the processing element and part of the modules are implemented in the form of hardware. For example, the acquisition module may be a processing element that is set up separately, or may be implemented integrally in the target positioning device, for example, in a chip of the target positioning device, or may be stored in a memory of the target positioning device in a program form, and the functions of the above modules are called and executed by a certain processing element of the target positioning device. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.
For example, the modules above may be one or more integrated circuits configured to implement the methods above, such as: one or more specific integrated circuits (Application Specific Integrated Circuit, ASIC), or one or more microprocessors (digital singnal processor, DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, FPGA), or the like. For another example, when a module above is implemented in the form of a processing element scheduler, the processing element may be a general purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
On the other hand, the embodiment of the application also provides a target positioning device for the millimeter wave radar antenna array and the camera with adjustable lens direction, which comprises: the system comprises a processor and a memory, wherein the memory is used for storing at least one instruction, and the instruction is loaded and executed by the processor to realize the target positioning method. The specific working process and principle of the target positioning device can be the same as those of the above embodiment, and will not be described herein.
The number of processors may be one or more, and the processors and memory may be connected by a bus or other means. The memory, as a non-transitory computer readable storage medium, may be used to store a non-transitory software program, a non-transitory computer executable program, and modules, such as program instructions/modules corresponding to the image detection method in the embodiments of the present application. The processor executes various functional applications and data processing by running non-transitory software programs, instructions, and modules stored in memory, i.e., implementing the methods of any of the method embodiments described above. The memory may include a memory program area and a memory data area, wherein the memory program area may store an operating system, at least one application program required for a function; and necessary data, etc. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device.
The embodiment of the present application also provides a computer-readable storage medium having stored therein a computer program which, when run on a computer, causes the computer to execute the target positioning method of the above embodiment.
In another aspect, an embodiment of the present application further provides a monitoring system, including: camera with adjustable lens direction, millimeter wave radar antenna array and target positioning device in the above embodiment.
In the above embodiments, it may be implemented in whole or in part 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 the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, 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 a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk), etc.
In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relation of association objects, and indicates that there may be three kinds of relations, for example, a and/or B, and may indicate that a alone exists, a and B together, and B alone exists. Wherein A, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of the following" and the like means any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.
The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.