基于多传感器的距离与身高的确定方法及其装置

Method and device for determining distance and height based on multiple sensors

文档序号：5507 发布日期：2021-09-17 浏览：108次中文

1. A multi-sensor based distance and height determination method for determining whether a subject is drug addicted based on a pupil image, comprising:

respectively measuring a first distance, a second distance and a third distance from a measured object to the measured object by using a first sensor, a second sensor and a third sensor which are positioned on a security inspection device, and measuring a first height, a second height and a third height of the measured object;

respectively determining the magnitude relation between each of the first distance, the second distance and the third distance and a minimum distance threshold value and a maximum distance threshold value by using a first determination unit;

determining, by a second determination unit, a final distance of the measured object from the security inspection device and a final height of the measured object based on the determined magnitude relationship between each of the first distance, the second distance, and the third distance and a minimum distance threshold and a maximum distance threshold; and

and according to the determined final distance and the final height, performing pixel and size conversion on the pupil image of the tested object to determine whether the tested object is toxic or not.

2. The multi-sensor based distance to height determination method of claim 1, wherein determining a final distance of the measured object from the security device and a final height of the measured object based on the determined relationship of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold comprises:

in a case where both the second distance and the third distance are smaller than the minimum distance threshold, the first distance is determined as a final distance of the measured object from the security inspection device regardless of a relationship of the first distance to the minimum distance threshold and the maximum distance threshold, and accordingly the first height is determined as a final height of the measured object.

3. The multi-sensor based distance to height determination method of claim 1, wherein determining a final distance of the measured object from the security device and a final height of the measured object based on the determined relationship of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold comprises:

if the second distance is less than the minimum distance threshold, the third distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold:

when the first distance is smaller than the minimum distance threshold or larger than the maximum distance threshold, determining the third distance as the final distance of the measured object from the security inspection device, and accordingly determining the third height as the final height of the measured object; or

When the first distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold, determining whether the absolute value of the difference between the first distance and the third distance is less than a preset separation distance of the tested person,

in the case of being less than the predetermined separation distance of the person to be measured, the first distance is determined as a final distance of the object to be measured from the security inspection device, and accordingly the first height is determined as a final height of the object to be measured, and

and in the case of being greater than or equal to the predetermined separation distance of the tested person, determining the smaller distance of the first distance and the third distance as the final distance of the tested object from the safety inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the tested object.

4. The multi-sensor based distance to height determination method of claim 1, wherein determining a final distance of the measured object from the security device and a final height of the measured object based on the determined relationship of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold comprises:

in the event that the second distance is less than the minimum distance threshold and the third distance is greater than the maximum distance threshold:

determining the third distance as a final distance of the measured object from the security device when the first distance is less than the minimum distance threshold, and accordingly determining the third height as a final height of the measured object; or

When the first distance is larger than the maximum distance threshold value, determining the smaller distance of the first distance and the third distance as the final distance of the measured object from the safety inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the measured object; or

When the first distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold, determining the first distance as a final distance of the measured object from the security inspection device, and accordingly determining the first height as a final height of the measured object.

5. The multi-sensor based distance to height determination method of claim 1, wherein determining a final distance of the measured object from the security device and a final height of the measured object based on the determined relationship of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold comprises:

if the second distance is greater than the minimum distance threshold and less than the maximum distance threshold, the third distance is less than the maximum distance threshold:

when the first distance is smaller than the minimum distance threshold or larger than the maximum distance threshold, determining the second distance as a final distance of the measured object from the security inspection device, and accordingly determining the second height as a final height of the measured object; or

Determining whether an absolute value of a difference between the first distance and the second distance is less than a predetermined human separation distance under test when the first distance is greater than the minimum distance threshold and less than the maximum distance threshold,

and in the case of being greater than or equal to the predetermined separation distance of the tested person, determining the smaller distance of the first distance and the second distance as the final distance of the tested object from the safety inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the tested object.

6. The multi-sensor based distance to height determination method of claim 1, wherein determining a final distance of the measured object from the security device and a final height of the measured object based on the determined relationship of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold comprises:

in a case where the second distance and the third distance are both greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold,

determining whether an absolute value of a difference between the second distance and the third distance is less than a predetermined measured person separation distance when the first distance is less than the minimum distance threshold or greater than the maximum distance threshold,

in the case of being less than the predetermined measured person separation distance, determining the second distance as a final distance of the measured object from the security inspection device and accordingly determining the second height as a final height of the measured object, and

in the case of being greater than or equal to the predetermined human separation distance, determining the smaller distance of the second distance and the third distance as the final distance of the measured object from the security inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the measured object; or

Determining a relationship between each of an absolute value of a difference between the first distance and the second distance, an absolute value of a difference between the first distance and the third distance, and an absolute value of a difference between the second distance and the third distance, and the predetermined measured person separation distance, when the first distance is equal to or greater than the minimum distance threshold and equal to or less than the maximum distance threshold,

in the case that the absolute value of the difference between the first distance and the second distance, the absolute value of the difference between the first distance and the third distance, and the absolute value of the difference between the second distance and the third distance are all smaller than the predetermined human separation distance, determining the first distance as the final distance of the measured object from the security inspection device, and accordingly determining the first height as the final height of the measured object; or

Determining the third distance as the final distance of the measured object from the safety inspection device and accordingly determining the third height as the final height of the measured object if the absolute value of the difference between the first distance and the second distance is equal to or greater than the predetermined human separation distance and the absolute values of the difference between the first distance and the third distance and the second distance and the third distance are both less than the predetermined human separation distance; or

Determining the first distance as a final distance of the measured object from the security inspection device and accordingly determining the first height as a final height of the measured object, in a case where an absolute value of a difference between the first distance and the second distance and an absolute value of a difference between the first distance and the third distance are both smaller than the predetermined human separation distance and an absolute value of a difference between the second distance and the third distance is equal to or greater than the predetermined human separation distance; or

Determining the second distance as a final distance of the measured object from the safety inspection device and accordingly determining the second height as a final height of the measured object, in the case that the absolute value of the difference between the first distance and the second distance and the absolute value of the difference between the second distance and the third distance are both smaller than the predetermined measured person separation distance and the absolute value of the difference between the first distance and the third distance is greater than or equal to the predetermined measured person separation distance; or

Determining the third distance as the final distance of the measured object from the safety inspection device and accordingly determining the third height as the final height of the measured object in the case that the absolute value of the difference between the first distance and the second distance is smaller than the predetermined human separation distance and the absolute values of the differences between the first distance and the third distance and the second distance and the third distance are both greater than or equal to the predetermined human separation distance; or

Determining the second distance as a final distance of the measured object from the safety inspection device and accordingly determining the second height as a final height of the measured object, in the case that an absolute value of a difference between the first distance and the second distance and an absolute value of a difference between the first distance and the third distance are both equal to or greater than the predetermined measured person separation distance and an absolute value of a difference between the second distance and the third distance is less than the predetermined measured person separation distance; or

Determining the first distance as a final distance of the measured object from the security inspection device and accordingly determining the first height as a final height of the measured object, in the case that an absolute value of a difference between the first distance and the second distance and an absolute value of a difference between the second distance and the third distance are both equal to or greater than the predetermined human separation distance and an absolute value of a difference between the first distance and the third distance is less than the predetermined human separation distance; or

And determining the third distance as the final distance of the measured object from the safety inspection device and correspondingly determining the third height as the final height of the measured object when the absolute value of the difference between the first distance and the second distance, the absolute value of the difference between the first distance and the third distance and the absolute value of the difference between the second distance and the third distance are all larger than or equal to the preset measured person spacing distance.

7. The multi-sensor based distance to height determination method of claim 1, wherein determining a final distance of the measured object from the security device and a final height of the measured object based on the determined relationship of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold comprises:

in a case where the second distance is equal to or greater than the minimum distance threshold and equal to or less than the maximum distance threshold, and the third distance is greater than the maximum distance threshold,

When the first distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold, determining whether the absolute value of the difference between the first distance and the second distance is less than a preset separation distance of the tested person,

in the case of being smaller than the preset separation distance of the tested person, determining the first distance as the final distance of the tested object from the safety inspection device, and accordingly determining the first height as the final height of the tested object; or

And in the case of being greater than or equal to the preset separation distance of the tested person, determining the smaller distance of the first distance and the second distance as the final distance of the tested object from the safety inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the tested object.

8. The multi-sensor based distance to height determination method of claim 1, wherein determining a final distance of the measured object from the security device and a final height of the measured object based on the determined relationship of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold comprises:

in the case that the second distance is greater than the maximum distance threshold and the third distance is less than the minimum distance threshold,

when the first distance is less than the minimum distance threshold, determining the second distance as a final distance of the measured object from the security device, and accordingly determining the second height as a final height of the measured object; or

When the first distance is larger than the maximum distance threshold value, determining the smaller distance of the first distance and the second distance as the final distance of the measured object from the safety inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the measured object; or

9. The multi-sensor based distance to height determination method of claim 1, wherein determining a final distance of the measured object from the security device and a final height of the measured object based on the determined relationship of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold comprises:

in the case where the second distance is greater than the maximum distance threshold and the third distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold,

when the first distance is smaller than the minimum distance threshold or larger than the maximum distance threshold, determining the third distance as a final distance of the measured object from the security inspection device, and accordingly determining the third height as a final height of the measured object; or

And in the case of being greater than or equal to the preset separation distance of the tested person, determining the smaller distance of the first distance and the third distance as the final distance of the tested object from the safety inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the tested object.

10. The multi-sensor based distance to height determination method of claim 1, wherein determining a final distance of the measured object from the security device and a final height of the measured object based on the determined relationship of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold comprises:

in the event that both the second distance and the third distance are greater than the maximum distance threshold,

when the first distance is smaller than the minimum distance threshold, determining the smaller distance of the second distance and the third distance as the final distance of the measured object from the safety inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the measured object; or

When the first distance is larger than the maximum distance threshold value, determining the minimum distance of the first distance, the second distance and the third distance as the final distance of the measured object from the security inspection device, and accordingly determining the height corresponding to the minimum distance as the final height of the measured object; or

11. A multi-sensor distance and height determination apparatus for determining whether a subject is poisoned based on a pupil image, comprising:

the safety inspection device comprises a first sensor, a second sensor and a third sensor which are positioned on the safety inspection device and are configured to measure a first distance, a second distance and a third distance from a measured object to the measured object respectively and measure a first height, a second height and a third height of the measured object;

a first determination unit configured to determine a magnitude relation of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold, respectively; and

a second determination unit configured to:

determining a final distance of the measured object from the security inspection device and a final height of the measured object based on the determined magnitude relationship between each of the first distance, the second distance and the third distance and a minimum distance threshold and a maximum distance threshold; and

12. An electronic device, comprising:

one or more processors; and

a memory for storing one or more programs,

wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-10.

13. A computer readable storage medium having stored thereon executable instructions which, when executed by a processor, cause the processor to carry out the method of any one of claims 1 to 10.

Background

For a long time, in drug investigation work, urine, blood or saliva tests are conventional test methods for investigating whether a suspected person takes a drug. However, since the above test must go through many steps such as sampling under supervision, it usually consumes a lot of time, manpower and material resources, and the test result is also easily interfered to cause problems such as false negative and false positive. In addition, the varieties of drugs are various, and the urine test paper needs to be used for checking one by one, so that the using amount of the urine test paper is increased, and the cost is increased, so that the method is not suitable for wide screening. In addition, in recent years, some drug addicts adopt special methods to neutralize drug metabolism in their bodies, so that the conventional urinalysis is disabled, and the examiners can only adopt accurate detection methods such as gas chromatography-mass spectrometry, etc., but the detection time is 2-3 days and the cost is high by using the methods although the methods are accurate.

In order to solve the obvious defects and the problems existing in the detection of the virus-absorbing personnel, a product which is safe, simple to operate, capable of collecting the pupil images of pedestrians in a long distance and noninductive mode and judging whether the suspected virus-absorbing exists or not by analyzing the images is needed.

The basis for realizing the remote alignment of the face of the user, the acquisition of the eye image, the segmentation of the pupil of the eye and the calculation of the pupil size is that the distance between the user and the security inspection instrument and the height of the user need to be determined.

The existing method for estimating the size of the remote pupil based on video image processing is not mature, especially the distance measurement is inaccurate, especially under the condition that the fluctuation of the height (1.5-2.1 meters) of a measured person is large. Therefore, how to accurately determine the height of the detected person and the distance between the detected person and the security inspection equipment is a technical problem to be solved.

Disclosure of Invention

In order to solve the above problem, the present application provides a method for determining distance and height based on multiple sensors, which is used for determining whether a subject is drug-absorbed based on a pupil image, and includes: respectively measuring a first distance, a second distance and a third distance from a measured object to the measured object by using a first sensor, a second sensor and a third sensor which are positioned on a security inspection device, and measuring a first height, a second height and a third height of the measured object; respectively determining the magnitude relation between each of the first distance, the second distance and the third distance and the minimum distance threshold value and the maximum distance threshold value by using a first determination unit; determining a final distance of the measured object from the security inspection device and a final height of the measured object based on the magnitude relation between each of the determined first distance, second distance and third distance and the minimum distance threshold and the maximum distance threshold by using a second determination unit; and according to the determined final distance and the final height, performing pixel and size conversion on the pupil image of the tested object to determine whether the tested object is toxic or not.

According to the first aspect, determining a final distance of the measured object from the security inspection device and a final height of the measured object based on the determined relationship of each of the first distance, the second distance, and the third distance to the minimum distance threshold and the maximum distance threshold may include: in the case where both the second distance and the third distance are smaller than the minimum distance threshold, the first distance is determined as a final distance of the object to be measured from the security inspection device regardless of a magnitude relationship between the first distance and the minimum distance threshold and the maximum distance threshold, and accordingly, the first height is determined as a final height of the object to be measured.

According to the first aspect, determining the final distance of the measured object from the security inspection device and the final height of the measured object based on the magnitude relationship between each of the determined first distance, second distance, and third distance and the minimum distance threshold and the maximum distance threshold may include:

when the second distance is less than the minimum distance threshold, the third distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold:

when the first distance is smaller than the minimum distance threshold or larger than the maximum distance threshold, determining a third distance as a final distance of the measured object from the safety inspection device, and accordingly determining a third height as the final height of the measured object; or

in the case of less than a predetermined separation distance between the persons to be measured, the first distance is determined as the final distance of the object to be measured from the security inspection device, and accordingly the first height is determined as the final height of the object to be measured, and

in the case of being greater than or equal to a predetermined person-to-be-tested separation distance, the smaller distance of the first distance and the third distance is determined as a final distance of the subject from the security inspection device, and accordingly, a height corresponding to the smaller distance is determined as a final height of the subject.

in the case where the second distance is less than the minimum distance threshold and the third distance is greater than the maximum distance threshold:

when the first distance is smaller than the minimum distance threshold value, determining the third distance as the final distance between the tested object and the safety inspection device, and correspondingly determining the third height as the final height of the tested object; or

When the first distance is larger than the maximum distance threshold value, determining the smaller distance of the first distance and the third distance as the final distance of the measured object from the security inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the measured object; or

And when the first distance is greater than or equal to the minimum distance threshold value and less than or equal to the maximum distance threshold value, determining the first distance as the final distance between the measured object and the safety inspection device, and accordingly determining the first height as the final height of the measured object.

if the second distance is greater than the minimum distance threshold and less than the maximum distance threshold, the third distance is less than the maximum distance threshold:

when the first distance is smaller than the minimum distance threshold or larger than the maximum distance threshold, determining the second distance as the final distance between the measured object and the security inspection device, and accordingly determining the second height as the final height of the measured object; or

When the first distance is greater than the minimum distance threshold and less than the maximum distance threshold, determining whether the absolute value of the difference between the first distance and the second distance is less than a predetermined separation distance of the tested person,

in the case of being greater than or equal to a predetermined person-to-be-tested separation distance, the smaller distance of the first distance and the second distance is determined as a final distance of the subject from the security inspection device, and accordingly, a height corresponding to the smaller distance is determined as a final height of the subject.

in the case where the second distance and the third distance are both greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold,

when the first distance is smaller than the minimum distance threshold or larger than the maximum distance threshold, determining whether the absolute value of the difference between the second distance and the third distance is smaller than the preset separation distance of the tested person,

in the case of a distance less than a predetermined separation distance between the persons to be measured, the second distance is determined as the final distance of the object to be measured from the security device and accordingly the second height is determined as the final height of the object to be measured, and

When the first distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold, determining the relationship between the absolute value of the difference between the first distance and the second distance, the absolute value of the difference between the first distance and the third distance, and the absolute value of the difference between the second distance and the third distance and the preset separation distance of the tested person,

determining the first distance as the final distance of the measured object from the security inspection device and correspondingly determining the first height as the final height of the measured object when the absolute value of the difference between the first distance and the second distance, the absolute value of the difference between the first distance and the third distance and the absolute value of the difference between the second distance and the third distance are all smaller than the preset measured person separation distance; or

Under the condition that the absolute value of the difference between the first distance and the second distance is greater than or equal to the preset separation distance of the tested person, and the absolute value of the difference between the first distance and the third distance and the absolute value of the difference between the second distance and the third distance are both smaller than the preset separation distance of the tested person, determining the third distance as the final distance between the tested object and the safety inspection device, and correspondingly determining the third height as the final height of the tested object; or

Under the condition that the absolute value of the difference between the first distance and the second distance and the absolute value of the difference between the first distance and the third distance are both smaller than a preset tested person spacing distance, and the absolute value of the difference between the second distance and the third distance is larger than or equal to the preset tested person spacing distance, determining the first distance as the final distance from the tested object to the safety inspection device, and accordingly determining the first height as the final height of the tested object; or

Determining the second distance as the final distance of the measured object from the security inspection device and correspondingly determining the second height as the final height of the measured object under the condition that the absolute value of the difference between the first distance and the second distance and the absolute value of the difference between the second distance and the third distance are both smaller than the preset measured person separation distance and the absolute value of the difference between the first distance and the third distance is larger than or equal to the preset measured person separation distance; or

Determining the third distance as the final distance of the measured object from the security inspection device and correspondingly determining the third height as the final height of the measured object under the condition that the absolute value of the difference between the first distance and the second distance is smaller than the preset measured person spacing distance and the absolute values of the difference between the first distance and the third distance and the difference between the second distance and the third distance are both larger than or equal to the preset measured person spacing distance; or

Determining the second distance as the final distance of the measured object from the security inspection device and correspondingly determining the second height as the final height of the measured object under the condition that the absolute value of the difference between the first distance and the second distance and the absolute value of the difference between the first distance and the third distance are both greater than or equal to the preset measured person spacing distance and the absolute value of the difference between the second distance and the third distance is smaller than the preset measured person spacing distance; or

Determining the first distance as the final distance of the measured object from the security inspection device and correspondingly determining the first height as the final height of the measured object under the condition that the absolute value of the difference between the first distance and the second distance and the absolute value of the difference between the second distance and the third distance are both greater than or equal to the preset measured person separation distance and the absolute value of the difference between the first distance and the third distance is smaller than the preset measured person separation distance; or

And in the case that the absolute value of the difference between the first distance and the second distance, the absolute value of the difference between the first distance and the third distance and the absolute value of the difference between the second distance and the third distance are all larger than or equal to the preset separation distance of the tested person, determining the third distance as the final distance between the tested object and the safety inspection device, and accordingly determining the third height as the final height of the tested object.

in the case where the second distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold, and the third distance is greater than the maximum distance threshold,

When the first distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold, determining whether the absolute value of the difference between the first distance and the second distance is less than a preset separation distance of the tested person,

under the condition that the distance is less than the preset separation distance of the tested person, determining the first distance as the final distance between the tested object and the safety inspection device, and accordingly determining the first height as the final height of the tested object; or

And in the case of being greater than or equal to the preset separation distance of the tested person, determining the smaller distance of the first distance and the second distance as the final distance of the tested object from the security inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the tested object.

in the case where the second distance is greater than the maximum distance threshold, and the third distance is less than the minimum distance threshold,

when the first distance is smaller than the minimum distance threshold value, determining the second distance as the final distance between the measured object and the security inspection device, and correspondingly determining the second height as the final height of the measured object; or

When the first distance is larger than the maximum distance threshold value, determining the smaller distance of the first distance and the second distance as the final distance of the measured object from the security inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the measured object; or

in the case where the second distance is greater than the maximum distance threshold, and the third distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold,

when the first distance is smaller than the minimum distance threshold or larger than the maximum distance threshold, determining the third distance as the final distance between the measured object and the security inspection device, and accordingly determining the third height as the final height of the measured object; or

And in the case of being greater than or equal to the predetermined separation distance of the tested person, determining the smaller distance of the first distance and the third distance as the final distance of the tested object from the security inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the tested object.

in the case where both the second distance and the third distance are greater than the maximum distance threshold,

when the first distance is smaller than the minimum distance threshold, determining the smaller distance of the second distance and the third distance as the final distance of the measured object from the security inspection device, and accordingly determining the height corresponding to the smaller distance as the final height of the measured object; or

According to a second aspect of the present application, there is provided a multi-sensor based distance and height determining apparatus for determining whether a subject is drug addicted based on a pupil image, which may include: the safety inspection device comprises a first sensor, a second sensor and a third sensor which are positioned on the safety inspection device and are configured to measure a first distance, a second distance and a third distance from a measured object to the measured object respectively and measure a first height, a second height and a third height of the measured object; a first determination unit configured to determine a magnitude relation of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold, respectively; a second determination unit configured to determine a final distance of the measured object from the security inspection device and a final height of the measured object based on a magnitude relationship between each of the determined first distance, second distance, and third distance and a minimum distance threshold and a maximum distance threshold, and perform pixel and size conversion on a pupil image of the measured object according to the determined final distance and final height to determine whether the measured object is drug-addict.

According to a third aspect of the present application, there is provided an electronic device comprising: one or more processors; and memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method according to the first aspect.

According to a fourth aspect of the present application, there is provided a computer readable storage medium having stored thereon executable instructions which, when executed by a processor, cause the processor to carry out the method according to the first aspect.

Based on the above aspects provided by the application, the sensor false measurement results caused by bad factors such as sensor damage, overlapping of the detected person, intentional shielding, high and large luggage in front and the like can be effectively eliminated, so that the distance closest to the actual distance between the detected object and the security inspection device and the height closest to the actual height of the detected object are obtained, and other processing (for example, pixel and size conversion is carried out on the pupil image of the virus-absorbing person) can be carried out based on the accurate distance and the height.

Drawings

The above and other embodiments and features of the present disclosure will become more apparent by describing in detail embodiments thereof with reference to the attached drawings in which:

FIG. 1 schematically illustrates a system architecture for a multi-sensor based distance and height determination method according to an embodiment of the present disclosure;

FIG. 2 schematically illustrates an example arrangement of a plurality of sensors according to an embodiment of the disclosure;

FIG. 3 schematically illustrates a flow chart of a multi-sensor based distance and height determination method according to an embodiment of the present disclosure;

FIG. 4 schematically shows an example flow chart of a first case of determining a final distance and a final height according to an embodiment of the present disclosure;

FIG. 5 schematically illustrates an example flow diagram of a second scenario of determining a final distance and a final height according to an embodiment of the present disclosure;

FIG. 6 schematically illustrates an example flow diagram of a third scenario of determining a final distance and a final height according to an embodiment of the present disclosure;

FIG. 7 schematically illustrates an example flow diagram of a fourth scenario of determining a final distance and a final height according to an embodiment of the present disclosure;

FIG. 8 schematically illustrates an example flow chart of a fifth scenario of determining a final distance and a final height according to an embodiment of the present disclosure;

FIG. 9 schematically illustrates an example flow diagram of a sixth scenario of determining a final distance and a final height according to an embodiment of the present disclosure;

FIG. 10 schematically illustrates an example flow chart of a seventh scenario of determining a final distance and a final height according to an embodiment of the present disclosure;

FIG. 11 schematically shows an example flow diagram of an eighth case of determining a final distance and a final height according to an embodiment of the present disclosure;

FIG. 12 schematically shows an example flow diagram of a ninth case of determining a final distance and a final height according to an embodiment of the disclosure;

FIG. 13 schematically illustrates a block diagram of a multi-sensor based distance and height determination apparatus, in accordance with an embodiment of the present disclosure; and

fig. 14 schematically illustrates a block diagram of an electronic device suitable for implementing a cargo picking method according to an embodiment of the disclosure.

Detailed Description

Specific embodiments of the present invention will be described in detail below, and it should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known circuits, materials, or methods have not been described in detail in order to avoid obscuring the present invention.

Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples.

It will be understood that when an element is referred to as being "coupled" or "connected" to another element, it can be directly coupled or connected to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly coupled" or "directly connected" to another element, there are no intervening elements present.

Further, as used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It will be understood that a noun in the singular corresponding to a term may include one or more things unless the relevant context clearly dictates otherwise. As used herein, each of the phrases such as "a or B," "at least one of a and B," "at least one of a or B," "A, B or C," "at least one of A, B and C," and "at least one of A, B or C" may include all possible combinations of the items listed together with the respective one of the plurality of phrases. As used herein, terms such as "1 st" and "2 nd" or "first" and "second" may be used to distinguish one element from another element simply and not to limit the elements in other respects (e.g., importance or order).

As used herein, the term "module" may include units implemented in hardware, software, or firmware, and may be used interchangeably with other terms (e.g., "logic," "logic block," "portion," or "circuitry"). A module may be a single integrated component adapted to perform one or more functions or a minimal unit or portion of the single integrated component. For example, according to an embodiment, the modules may be implemented in the form of Application Specific Integrated Circuits (ASICs).

It should be understood that the various embodiments of the present disclosure and the terms used therein are not intended to limit the technical features set forth herein to specific embodiments, but include various changes, equivalents, or alternatives to the respective embodiments. Unless otherwise explicitly defined herein, all terms are to be given their broadest possible interpretation, including meanings implied in the specification and meanings understood by those skilled in the art and/or defined in dictionaries, papers, etc.

Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale. For the description of the figures, like reference numerals may be used to refer to like or related elements. The present disclosure will be described below by way of example with reference to the accompanying drawings.

To address the problems as set forth in the background section, embodiments of the present disclosure provide a multi-sensor based distance and height determination method and apparatus for determining whether a subject is poisoned based on a pupil image, the method including: respectively measuring a first distance, a second distance and a third distance from a measured object to the measured object by using a first sensor, a second sensor and a third sensor which are positioned on a security inspection device, and measuring a first height, a second height and a third height of the measured object; respectively determining the magnitude relation between each of the first distance, the second distance and the third distance and a minimum distance threshold value and a maximum distance threshold value by using a first determination unit; determining a final distance of the measured object from the security inspection device and a final height of the measured object based on the magnitude relation between each of the determined first distance, second distance and third distance and the minimum distance threshold and the maximum distance threshold by using a second determination unit; and according to the determined final distance and the final height, performing pixel and size conversion on the pupil image of the tested object to determine whether the tested object is toxic or not.

The present disclosure will be described in detail below with reference to specific embodiments with reference to the attached drawings.

FIG. 1 schematically shows a system architecture of a multi-sensor based distance and height determination method according to an embodiment of the present disclosure. The system architecture 100 is a general architecture for detecting virus-absorbing persons, and a remote infrared pupil acquisition device is arranged on a security check machine and is used for identifying and detecting pupils of the person to be detected. After obtaining the pupil image of the tested person, performing pixel and size conversion on the pupil image based on the height of the tested person and the distance between the tested person and the security inspection device, and then determining whether the tested person is a virus addict based on the converted pupil image.

Therefore, the method and the device for determining the distance and the height based on the multiple sensors are very important for determining whether the tested person takes poison or not.

FIG. 2 schematically illustrates an example arrangement of a plurality of sensors according to an embodiment of the disclosure.

As shown in fig. 2, the first sensor is arranged at a height of a meters from the ground, the second sensor is arranged at a height of b meters from the ground, and the third sensor is arranged at a height of c meters from the ground.

Two reference points, namely a near point A and a far point B, are also arranged on the ground. The near point A is the closest distance between the measured person and the sensor under the detection capability of the sensor, and the far point B is the farthest distance between the measured person and the sensor under the detection capability of the sensor.

Herein, the distance from the near point a to the security inspection apparatus (point o in fig. 2) is set as a minimum distance threshold, and the distance from the far point B to the security inspection apparatus (point o in fig. 2) is set as a maximum distance threshold, for use in the process described below.

In an exemplary embodiment, the first sensor, the second sensor, and the third sensor may be the same sensor, or may be different sensors.

In the case where the first sensor, the second sensor, and the third sensor are the same sensor, illustratively, when the detection capability of the sensor is 300cm to 400cm, the minimum distance threshold is 280cm, and the maximum distance threshold is 420 cm.

Since the stream of people is usually passed through the security inspection machine continuously during security inspection, a plurality of persons to be inspected may pass through the security inspection apparatus closely in front of and behind each other.

In view of this situation, for the purpose of making the measured result more accurate, the preset measured person spacing distance is also set in the present application.

Preferably, the predetermined measured person separation distance may be set to 20 cm.

FIG. 3 schematically shows a flow chart of a method of multi-sensor based distance and height determination according to an embodiment of the present disclosure.

As shown in fig. 3, the method includes the following operations.

In operation S301, a first distance, a second distance, and a third distance from a measured object to the measured object are measured, and a first height, a second height, and a third height of the measured object are measured, respectively, using a first sensor, a second sensor, and a third sensor located on a security inspection apparatus.

In operation S303, a relationship of each of the first, second, and third distances to a minimum distance threshold and a maximum distance threshold is determined by the first determination unit, respectively.

The first determination unit may be configured to be provided on the security check device.

Alternatively, the first determination unit may be configured in another processing device in wired or wireless connection with the security device.

In operation S305, a final distance of the measured object from the security inspection device and a final height of the measured object are determined based on a relationship between each of the determined first, second and third distances and the minimum and maximum distance thresholds, using the second determination unit.

Herein, the final distance and the final height of the measured object from the security inspection device may be defined as an optimal distance and height for the measured person determined based on the distance and height measured by each of the first sensor, the second sensor, and the third sensor.

The second determination unit may be configured to be provided in the security check device.

Alternatively, the second determination unit may be configured to be provided in another processing device that is wired or wirelessly connected to the security device.

Adverse factors such as sensor faults, personnel overlapping and intentional shielding are considered, and the measurement results of the sensors (namely, the first sensor, the second sensor and the third sensor) are combined for judgment to determine the distance and the height (namely, the final distance and the final height in the text) which are closest to the real distance between the measured object and the security inspection device and the real height of the measured object. The final distance and the final height will be determined below with respect to the relationship between the distance values measured by the first sensor, the second sensor, the third sensor and the minimum distance threshold and the maximum distance threshold, and in addition in combination with the predetermined measured person separation distance.

FIG. 4 schematically shows an example flow chart of a first scenario of determining a final distance and a final height according to an embodiment of the present disclosure.

As shown in fig. 4, the method includes the following operations.

At operation S401, it is determined whether the first distance is less than a minimum distance threshold.

At operation S403, it is determined whether the second distance is less than a minimum distance threshold.

At operation S405, it is determined whether the third distance is less than a minimum distance threshold.

At operation S407, it is determined whether the first distance is greater than a maximum distance threshold.

At operation S409, it is determined whether the second distance is greater than a maximum distance threshold.

At operation S411, it is determined whether the third distance is greater than a maximum distance threshold.

When it is determined in operations S403 and S405 that both the second distance and the third distance are smaller than the minimum distance threshold, the process proceeds to operation S413 regardless of the relationship of the first distance to the minimum distance threshold and the maximum distance threshold.

At operation S413, the first distance is determined as a final distance of the object to be measured from the security inspection device, and accordingly, the first elevation is determined as a final height of the object to be measured.

For clarity of the drawings, fig. 4 only partially shows a case where both the second distance and the third distance are smaller than the minimum distance threshold (in this case, the result is the same regardless of the magnitude relationship between the first distance and the minimum distance threshold or the maximum distance threshold), and as to other cases, please refer to fig. 5 to 12 and the related description in detail.

FIG. 5 schematically shows an example flow chart of a second case of determining a final distance and a final height according to an embodiment of the present disclosure.

As shown in fig. 5, the method includes the following operations.

At operation S501, operations similar to those in operations S403, S405, S409, and S411 in fig. 4 are performed.

In operation S503, it is determined that the second distance is less than the minimum distance threshold, and the third distance is equal to or greater than the minimum distance threshold and equal to or less than the maximum distance threshold.

In operations S505 and S507, the relationship between the first distance and the minimum and maximum distance thresholds is determined as compared with the operations in operations S404 and S407 in fig. 4.

When it is determined in operation S505 that the first distance is smaller than the minimum distance threshold, or when it is determined in operation S507 that the first distance is larger than the maximum distance threshold, the process proceeds to operation S509.

In operation S509, the third distance is determined as the final distance, and the third height is determined as the final height.

When it is determined through operations S505 and S507 that the first distance is equal to or greater than the minimum distance threshold value and equal to or less than the maximum distance threshold value (no in operation S507), the processing proceeds to operation S511.

In operation S511, it is determined whether an absolute value of a difference between the second distance and the third distance is less than a predetermined human separation distance under test.

When the determination result in operation S511 is yes, the process proceeds to operation S513.

In operation S513, the second distance is determined as the final distance, and the second height is determined as the final height.

When the determination result in operation S511 is no, the process proceeds to operation S515.

In operation S515, a smaller distance (e.g., a third distance) of the second distance and the third distance is determined as a final distance, and a height (e.g., a third height) corresponding to the smaller distance is determined as a final height.

FIG. 6 schematically shows an example flow chart of a third scenario of determining a final distance and a final height according to an embodiment of the present disclosure.

As shown in fig. 6, the method includes the following operations.

At operation S601, operations similar to those in operations S403, S405, S409, and S411 in fig. 4 are performed.

At operation S603, it is determined that the second distance is less than the minimum distance threshold and the third distance is greater than the maximum distance threshold.

At operation S605, an operation similar to operation S401 in fig. 4 is performed.

When the determination result in operation S605 is yes, the process proceeds to operation S609.

In operation S609, the third distance is determined as the final distance, and the third height is determined as the final height.

When the determination result in operation S605 is "no", the process proceeds to operation S607.

In operation S607, an operation similar to operation S407 in fig. 4 is performed.

When the determination result in operation S607 is yes, a smaller distance (e.g., a third distance) of the first distance and the third distance is determined as a final distance, and a height (e.g., a third height) corresponding to the smaller distance is determined as a final height.

When the determination result in operation S607 is no (i.e., the first distance is equal to or greater than the minimum distance threshold and equal to or less than the maximum distance threshold), the process proceeds to operation S613.

In operation S613, the first distance is determined as a final distance, and the first height is determined as a final height.

FIG. 7 schematically illustrates an example flow diagram of a fourth scenario of determining a final distance and a final height according to an embodiment of the present disclosure.

As shown in fig. 7, the method includes the following operations.

At operation S701, operations similar to those in operations S403, S405, S409, and S411 in fig. 4 are performed.

At operation S703, it is determined that the second distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold, and the third distance is less than the minimum distance threshold.

At operations S705 and S707, operations similar to operations S401 and S407 in fig. 4 are performed.

When it is determined in operation S705 that the first distance is smaller than the minimum distance threshold, or when it is determined in operation S707 that the first distance is larger than the maximum distance threshold, the process proceeds to operation S709.

In operation S709, the second distance is determined as a final distance, and the second height is determined as a final height.

When the determination result in operation S707 is no (i.e., the first distance is equal to or greater than the minimum distance threshold and equal to or less than the maximum distance threshold), the process proceeds to operation S711.

In operation S711, it is determined whether an absolute value of a difference between the first distance and the second distance is less than a predetermined human separation distance under test.

When the determination result in operation S711 is yes, the process proceeds to operation S713.

In operation S713, the first distance is determined as the position final distance, and the first height is determined as the final height.

When the determination result in operation S711 is "no", the process proceeds to operation S715.

In operation S715, a smaller distance of the first distance and the second distance is determined as a final distance, and a height corresponding to the smaller distance is determined as a final height.

FIG. 8 schematically shows an example flow chart of a fifth scenario of determining a final distance and a final height according to an embodiment of the present disclosure.

As shown in fig. 8, the method includes the following operations.

At operation S801, operations similar to those in operations S403, S405, S409, and S411 in fig. 4 are performed.

At operation S803, it is determined that the second distance is equal to or greater than the minimum distance threshold and equal to or less than the maximum distance threshold, and the third distance is equal to or greater than the minimum distance threshold and equal to or less than the maximum distance threshold.

At operations S805 and S807, operations similar to operations S401 and S407 in fig. 4 are performed.

When it is determined in operation S805 that the first distance is smaller than the minimum distance threshold, or when it is determined in operation S807 that the first distance is larger than the maximum distance threshold, the process proceeds to operation S809.

In operation S809, it is determined whether an absolute value of a difference between the second distance and the third distance is less than a predetermined measured person separation distance.

When the determination result in operation S809 is yes, the process proceeds to operation S811.

In operation S811, the second distance is determined as the final distance, and the second height is determined as the final height.

When the determination result in operation S809 is "no", the process proceeds to operation S813.

In operation S813, a smaller distance of the second distance and the third distance is determined as a final distance, and a height corresponding to the smaller distance is determined as a final height.

When the determination result in operation S807 is "no" (i.e., the first distance is equal to or greater than the minimum distance threshold and equal to or less than the maximum distance threshold), the process proceeds to operation S815.

In operation S815, a relationship between each of an absolute value of a difference between the first distance and the second distance, an absolute value of a difference between the second distance and the third distance, and an absolute value of a difference between the first distance and the third distance, and a predetermined measured person separation distance is determined.

On this basis, 8 different cases C1 to C8 can be found in S815. The following will describe in detail for each case.

In case C1, the absolute value of the difference between the first distance and the second distance, the absolute value of the difference between the second distance and the third distance, and the absolute value of the difference between the first distance and the third distance are all smaller than the predetermined subject separation distance (for convenience of description, the first distance is hereinafter denoted as Da, the second distance is hereinafter denoted as Db, the third distance is hereinafter denoted as Dc, and the predetermined subject distance is hereinafter denoted as PTPD), at which time the first distance is determined as the final distance and the first height is determined as the final height.

FIG. 9 schematically shows an example flow chart of a sixth scenario of determining a final distance and a final height according to an embodiment of the present disclosure.

As shown in fig. 9, the method includes the following operations.

At operation S901, operations similar to those in operations S403, S405, S409, and S411 in fig. 4 are performed.

At operation S903, it is determined that the second distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold, and the third distance is greater than the maximum distance threshold.

At operations S905 and S907, operations similar to operations S401 and S407 in fig. 4 are performed.

When it is determined in operation S905 that the first distance is smaller than the minimum distance threshold, or when it is determined in operation S907 that the first distance is larger than the maximum distance threshold, the process proceeds to operation S909.

In operation S909, the second distance is determined as the final distance, and the second height is determined as the final height.

When the determination result in operation S907 is no, the process proceeds to operation S911.

In operation S911, it is determined whether | Da-Db | is smaller than PTPD.

When less than, the process proceeds to operation S913, in which the first distance is determined as the final distance, and the first height is determined as the final height.

When greater than or equal to, the process proceeds to operation S915, in which the smaller distance of the first distance and the second distance is determined as the final distance, and the height corresponding to the smaller distance is determined as the final height.

FIG. 10 schematically shows an example flow chart of a seventh scenario of determining a final distance and a final height according to an embodiment of the present disclosure.

As shown in fig. 10, the method includes the following operations.

At operation S1001, operations similar to those in operations S403, S405, S409, and S411 in fig. 4 are performed.

At operation S1003, it is determined that the second distance is greater than the maximum distance threshold, and the third distance is less than the minimum distance threshold.

At operation S1005, an operation similar to operation S401 in fig. 4 is performed.

When the determination result in operation S1005 is yes, the process proceeds to operation S1007.

In operation S1007, the second distance is determined as the final distance, and the second height is determined as the final height.

At operation S1009, an operation similar to operation S407 in fig. 4 is performed.

When the determination result in the operation S1009 is yes, the process proceeds to an operation S1011.

At operation S1011, a smaller distance of the first distance and the second distance is determined as a final distance, and a height corresponding to the smaller distance is determined as a final height.

When the determination result in operation S1009 is no, the process proceeds to operation S1013.

At operation S1013, the first distance is determined as the final distance, and the first height is determined as the final height.

FIG. 11 schematically shows an example flow diagram of an eighth case of determining a final distance and a final height according to an embodiment of the disclosure.

As shown in fig. 11, the method includes the following operations.

At operation S1101, operations similar to those in operations S403, S405, S409, and S411 in fig. 4 are performed.

At operation S1103, it is determined that the second distance is greater than the maximum distance threshold, and the third distance is greater than or equal to the minimum distance threshold and less than or equal to the maximum distance threshold.

At operations S1105 and S1107, operations similar to operations S401 and S407 in fig. 4 are performed.

When the determination result in operation S1105 is "yes" or the determination result in operation S1107 is "yes", the processing proceeds to operation S1109.

At operation S1109, a third distance is determined as a final distance, and a third height is determined as a final height.

When the determination result in operation S1107 is "no", the processing proceeds to operation S1111.

At operation S1111, it is determined whether | Da-Dc | is smaller than PTPD.

When less than, the process proceeds to operation S1113, in which the first distance is determined as the final distance and the first height is determined as the final height.

When greater than or equal to, the process proceeds to operation S1115, where the smaller distance of the first distance and the third distance is determined as the final distance, and the height corresponding to the smaller distance is determined as the final height.

FIG. 12 schematically shows an example flow diagram of a ninth case of determining a final distance and a final height according to an embodiment of the disclosure.

As shown in fig. 12, the method includes the following operations.

At operation S1201, operations similar to those in operations S403, S405, S409, and S411 in fig. 4 are performed.

At operation S1203, it is determined that the second distance and the third distance are both greater than a maximum distance threshold.

At operation S1205, an operation similar to operation S401 in fig. 4 is performed.

When the determination result in operation S1205 is yes, the process proceeds to operation S1207.

At operation S1207, a smaller distance of the second distance and the third distance is determined as a final distance, and a height corresponding to the smaller distance is determined as a final height.

At operation S1209, an operation similar to operation S407 in fig. 4 is performed.

When the determination result in operation S1209 is yes, the process proceeds to operation S1211.

At operation S1211, a minimum distance of the first distance, the second distance, and the third distance is determined as a final distance, and a height corresponding to the minimum distance is determined as a final height.

When the determination result in operation S1209 is "no", the process proceeds to operation S1213.

At operation S1213, the first distance is determined as the final distance, and the first height is determined as the final height.

Fig. 13 schematically shows a block diagram of a multi-sensor based distance and height determining apparatus for determining whether a subject is drug addicted based on a pupil image according to an embodiment of the present disclosure.

As shown in fig. 13, the multi-sensor distance and height-based determining device 300 may include a security check device 1301, a first determining unit 1309, and a second determining unit 1311, wherein the security check device 1301 may include a first sensor 1303, a second sensor 1305, and a third sensor 1307.

The first sensor, the second sensor and the third sensor located on the security inspection device may be configured to measure a first distance, a second distance and a third distance from the measured object, respectively, and to measure a first height, a second height and a third height of the measured object;

the first determining unit may be configured to determine a relationship of each of the first, second and third distances to a minimum distance threshold and a maximum distance threshold, respectively; and

the second determination unit may be configured to determine a final distance of the measured object from the security inspection device and a final height of the measured object based on a relationship of each of the determined first, second, and third distances to the minimum and maximum distance thresholds; and according to the determined final distance and the final height, performing pixel and size conversion on the pupil image of the tested object to determine whether the tested object is toxic or not.

In addition to the above modules 1301 to 1309, the multi-sensor based distance and height determining apparatus may further include other modules for performing the above-described various operations accordingly.

For clarity and brevity, the respective modules and the corresponding operations performed therein are not described again.

The functionality of a plurality of modules according to embodiments of the present disclosure may be implemented in one module. One module according to the embodiments of the present disclosure may be implemented by being split into a plurality of modules. A module according to an embodiment of the present disclosure may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in any other reasonable manner of hardware or firmware by integrating or packaging circuits, or in any one of three implementations, software, hardware, and firmware, or in any suitable combination of any of them. Alternatively, modules according to embodiments of the present disclosure may be implemented at least in part as computer program modules that, when executed, may perform corresponding functions.

According to an embodiment of the present disclosure, at least one of the above modules may be implemented at least partially as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in hardware or firmware by any other reasonable manner of integrating or packaging a circuit, or in any one of three implementations of software, hardware, and firmware, or in a suitable combination of any of them. Optionally, at least one of the above modules may be implemented at least partly as a computer program module, which when executed may perform a corresponding function.

Fig. 14 schematically illustrates a block diagram of an electronic device suitable for implementing the cargo picking method described above according to an embodiment of the present disclosure. The electronic device shown in fig. 14 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 8, an electronic device 1400 according to an embodiment of the present disclosure includes a processor 1401, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)1402 or a program loaded from a storage portion 1408 into a Random Access Memory (RAM) 1403. Processor 1401 may comprise, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or associated chipset, and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), among others. The processor 1401 may also include onboard memory for caching purposes. Processor 1401 may include a single processing unit or multiple processing units for performing different actions of a method flow according to embodiments of the present disclosure.

In the RAM 1403, various programs and data necessary for the operation of the electronic device 1400 are stored. The processor 1401, the ROM 1402, and the RAM 1403 are connected to each other by a bus 1404. The processor 1401 performs various operations of the method flow according to the embodiments of the present disclosure by executing programs in the ROM 1402 and/or the RAM 1403. Note that the programs may also be stored in one or more memories other than ROM 1402 and RAM 1403. The processor 1401 may also perform various operations of the method flows according to the embodiments of the present disclosure by executing programs stored in the one or more memories.

According to an embodiment of the present disclosure, electronic device 1400 may also include an input/output (I/O) interface 1405, which input/output (I/O) interface 1405 is also connected to bus 1404. Electronic device 1400 may also include one or more of the following components connected to I/O interface 1405: an input portion 1406 including a keyboard, a mouse, and the like; an output portion 1407 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker and the like; a storage portion 1408 including a hard disk and the like; and a communication portion 1409 including a network interface card such as a LAN card, a modem, or the like. The communication section 1409 performs communication processing via a network such as the internet. The driver 810 is also connected to the I/O interface 1405 as necessary. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as necessary, so that a computer program read out therefrom is mounted on the storage section 1408 as necessary.

According to embodiments of the present disclosure, method flows according to embodiments of the present disclosure may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication portion 1409 and/or installed from the removable medium 811. The computer program, when executed by the processor 1401, performs the above-described functions defined in the system of the embodiment of the present disclosure. The systems, devices, apparatuses, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the present disclosure.

The present disclosure also provides a computer-readable storage medium, which may be contained in the apparatus/device/system described in the above embodiments; or may exist separately and not be assembled into the device/apparatus/system. The computer-readable storage medium carries one or more programs which, when executed, implement the method according to an embodiment of the disclosure.

According to embodiments of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, for example but is not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. For example, according to embodiments of the present disclosure, a computer-readable storage medium may include one or more memories other than ROM 1402 and/or RAM 1403 and/or ROM 1402 and RAM 1403 described above.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.

The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.

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Method and device for determining distance and height based on multiple sensors

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