Method of obtaining passenger flow velocity and density parameters based on depth image

The present invention provides a method of obtaining passenger flow velocity and density parameters based on a depth image. The method is characterized in that on the basis of pedestrian detection tracking, according to the pixel point positions and the distance information of the pedestrian targets in the front and back frames, and by combining the depth data of the corresponding pixel points, the front and back actual distances of the pedestrian targets are obtained, and according to the frame difference of the front and back frames, the movement time of the pedestrian targets is calculated, thereby obtaining the instantaneous velocities of the pedestrian targets; for all pedestrian targets in the detection frames, the average velocities of the detection frames are obtained, and the average velocities of all detection frames are averaged within the sampling time, thereby obtaining the passenger flow velocity; in the density calculation, firstly the areas in which the pedestrians can not stand in the detection areas are filtered, an effective detection area on the detection condition is obtained, and the passenger flow density is obtained by the ratio of the pedestrian target total number in the frames and the effective detection area.