CN111664866A - Positioning display method and device, positioning method and device and electronic equipment - Google Patents
Positioning display method and device, positioning method and device and electronic equipment Download PDFInfo
- Publication number
- CN111664866A CN111664866A CN202010499311.2A CN202010499311A CN111664866A CN 111664866 A CN111664866 A CN 111664866A CN 202010499311 A CN202010499311 A CN 202010499311A CN 111664866 A CN111664866 A CN 111664866A
- Authority
- CN
- China
- Prior art keywords
- map
- electronic equipment
- positioning
- electronic device
- visual positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3635—Guidance using 3D or perspective road maps
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
- Navigation (AREA)
Abstract
The disclosure relates to a positioning display method and device, a positioning method and device and electronic equipment. The positioning display method is applied to first electronic equipment and comprises the following steps: sending a positioning request to second electronic equipment, wherein the positioning request comprises an environment image where the first electronic equipment is located; under the condition of receiving a visual positioning result sent by second electronic equipment, determining a panoramic sub-map matched with the visual positioning result from a preset panoramic map, wherein the visual positioning result comprises position information and posture information of the first electronic equipment; and displaying the panoramic sub map in a display interface of the first electronic device. The embodiment of the disclosure can realize accurate visual positioning in a panoramic map.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a positioning display method and apparatus, a positioning method and apparatus, and an electronic device.
Background
When people move indoors and outdoors (such as inside a large shopping mall, on a city road and the like), the people often need to determine the position of the people through positioning and go to a destination through navigation. The indoor and outdoor positioning and navigation are usually realized through Bluetooth, GPS and the like at present, the positioning precision is lower, and the stability is poorer.
Disclosure of Invention
The disclosure provides a positioning display technical scheme and a positioning technical scheme.
According to an aspect of the present disclosure, there is provided a positioning display method applied to a first electronic device, including: sending a positioning request to second electronic equipment, wherein the positioning request comprises an environment image where the first electronic equipment is located; under the condition that a visual positioning result sent by the second electronic equipment is received, determining a panoramic sub-map matched with the visual positioning result from a preset panoramic map, wherein the visual positioning result comprises position information and posture information of the first electronic equipment; displaying the panoramic sub-map in a display interface of the first electronic device.
In one possible implementation, the method further includes: determining a navigation path of the first electronic equipment according to the position information of the first electronic equipment and the set target geographic position; determining a path position of the navigation path in a panoramic sub-map displayed on the display interface; and drawing an augmented reality AR navigation path in the panoramic sub map according to the path position.
In one possible implementation, the method further includes: determining a planar sub-map matched with the visual positioning result from a preset planar map according to the visual positioning result; and displaying the plane sub map and the positioning identifier of the first electronic equipment in a display interface of the first electronic equipment.
According to an aspect of the present disclosure, there is provided a positioning method applied to a second electronic device, including: extracting feature information of an environment image in a positioning request when the positioning request from a first electronic device is received; performing visual positioning on the first electronic equipment according to the feature information of the environment image and a preset point cloud map to obtain a visual positioning result of the first electronic equipment, wherein the visual positioning result comprises position information and posture information of the first electronic equipment; and sending the visual positioning result to the first electronic equipment so that the first electronic equipment determines and displays the panoramic sub map matched with the visual positioning result.
In one possible implementation, the method further includes: carrying out feature extraction on a regional image of a geographic region to be navigated to obtain image features of the regional image; and generating a point cloud map and a panoramic map of the geographic area according to the image characteristics of the area image.
In one possible implementation, the method further includes: and sending the panoramic map to the first electronic equipment.
According to an aspect of the present disclosure, there is provided a positioning display device applied to a first electronic device, including: the request sending module is used for sending a positioning request to second electronic equipment, wherein the positioning request comprises an environment image where the first electronic equipment is located; the panorama matching module is used for determining a panorama sub-map matched with the visual positioning result from a preset panorama map under the condition of receiving the visual positioning result sent by the second electronic equipment, wherein the visual positioning result comprises the position information and the posture information of the first electronic equipment; and the map display module is used for displaying the panoramic sub map in a display interface of the first electronic equipment.
In one possible implementation, the apparatus further includes: the path determining module is used for determining a navigation path of the first electronic equipment according to the position information of the first electronic equipment and the set target geographic position; the position determining module is used for determining the path position of the navigation path in the panoramic sub-map displayed on the display interface; and the path drawing module is used for drawing the augmented reality AR navigation path in the panoramic sub map according to the path position.
In one possible implementation, the apparatus further includes: the plane matching module is used for determining a plane sub-map matched with the visual positioning result from a preset plane map according to the visual positioning result; and the planar map display module is used for displaying the planar sub-map and the positioning identifier of the first electronic equipment in a display interface of the first electronic equipment.
According to an aspect of the present disclosure, there is provided a positioning apparatus applied to a second electronic device, including: the device comprises a feature extraction module, a feature extraction module and a feature extraction module, wherein the feature extraction module is used for extracting feature information of an environment image in a positioning request under the condition that the positioning request from a first electronic device is received; the visual positioning module is used for carrying out visual positioning on the first electronic equipment according to the feature information of the environment image and a preset point cloud map to obtain a visual positioning result of the first electronic equipment, wherein the visual positioning result comprises position information and posture information of the first electronic equipment; and the result sending module is used for sending the visual positioning result to the first electronic equipment so as to enable the first electronic equipment to determine and display the panoramic sub map matched with the visual positioning result.
In one possible implementation, the apparatus further includes: the regional characteristic extraction module is used for extracting the characteristics of a regional image of a geographic region to be navigated to obtain the image characteristics of the regional image; and the map generation module is used for generating a point cloud map and a panoramic map of the geographic area according to the image characteristics of the area image.
In one possible implementation, the apparatus further includes: and the panoramic map sending module is used for sending the panoramic map to the first electronic equipment.
According to an aspect of the present disclosure, there is provided an electronic device including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the instructions stored by the memory to perform the above-described location exposure method or location method.
According to an aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above positioning presentation method or positioning method.
In an embodiment of the present disclosure, a location request with an environment image can be sent to a second electronic device; and determining the matched panoramic sub-map from the panoramic map according to the visual positioning result of the second electronic equipment, and displaying the panoramic sub-map in a display interface, thereby realizing accurate visual positioning in the panoramic map.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 shows a flow chart of a positioning demonstration method according to an embodiment of the present disclosure.
Fig. 2a and 2b show schematic diagrams of a display interface according to an embodiment of the present disclosure.
Fig. 3 shows a flow chart of a positioning method according to an embodiment of the present disclosure.
Fig. 4 shows a schematic diagram of a positioning process according to an embodiment of the present disclosure.
FIG. 5 shows a block diagram of a positioning demonstration apparatus according to an embodiment of the present disclosure.
FIG. 6 shows a block diagram of a positioning device according to an embodiment of the present disclosure.
Fig. 7 shows a block diagram of an electronic device in accordance with an embodiment of the disclosure.
FIG. 8 shows a block diagram of an electronic device in accordance with an embodiment of the disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
Fig. 1 shows a flow chart of a positioning demonstration method according to an embodiment of the present disclosure. The method is applicable to a first electronic device. As shown in fig. 1, the method includes:
in step S11, sending a positioning request to a second electronic device, where the positioning request includes an environment image where the first electronic device is located;
in step S12, in a case of receiving a visual positioning result sent by the second electronic device, determining a panoramic sub-map matching the visual positioning result from a preset panoramic map, where the visual positioning result includes position information and posture information of the first electronic device;
in step S13, the panoramic sub-map is presented in a display interface of the first electronic device.
For example, the first electronic device may be, for example, a terminal device, and the terminal device may be a User Equipment (UE), a mobile device, a user terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, or the like, and the method may be implemented by the processor calling the computer readable instructions stored in the memory.
In a possible implementation manner, when a user holding or wearing the first electronic device needs to determine his or her position, an environmental image of the environment where the user is located may be acquired by an acquisition component (e.g., a camera) of the first electronic device, for example, an image of a scene faced by the first electronic device is captured. The environmental image may be one or more images, or may be a short video including a plurality of frames of images, which is not limited in this disclosure.
In one possible implementation, in step S11, the first electronic device may send a positioning request to the second electronic device, where the positioning request includes an environment image. The second electronic device may be, for example, a cloud server, and stores a point cloud map of a geographic area (e.g., an internal area of a mall, a city area, etc.) where the first electronic device is located.
In a possible implementation manner, after receiving the positioning request, the second electronic device may extract feature information of the environment image in the positioning request. Feature extraction can be performed on the environment image through a pre-trained neural network, for example, to obtain feature information of the environment image. The present disclosure does not limit the specific manner of feature extraction.
In a possible implementation manner, after obtaining the feature information of the environment image, the second electronic device may match the feature information with the point cloud map, and determine a matched visual positioning result. The present disclosure does not limit the specific manner in which the feature information is matched with the point cloud map.
In one possible implementation, the visual positioning result includes position information and posture information of the first electronic device. Wherein the location information may include location coordinates of the first electronic device; the attitude information may include an orientation, a pitch angle, etc. of the first electronic device.
In one possible implementation, if the second electronic device does not determine a matching visual positioning result, information of positioning failure may be returned to the first electronic device. After receiving the information of the positioning failure, the first electronic device can prompt the user to acquire the environment image again. For example, the user is prompted to change the orientation of the first electronic device, adjust the pitch angle of the first electronic device, move the position of the first electronic device, and the like, so as to acquire environment images at different viewing angles and different positions, and after the environment images are acquired, the positioning request is sent to the second electronic device again, so that the success probability of visual positioning is improved.
In one possible implementation, if the second electronic device is able to determine a matching visual positioning result, the visual positioning result may be returned to the first electronic device.
In a possible implementation manner, in step S12, when the first electronic device receives the visual positioning result sent by the second electronic device, the visual positioning result may be matched with a locally stored panoramic map, and a panoramic sub-map matching the visual positioning result is determined from the panoramic map. Wherein the panoramic map may include a 360 degree panoramic map of a geographic area in which the first electronic device is located.
In one possible implementation, in step S13, the panoramic sub-map may be presented in a display interface of the first electronic device to enable the user to determine their location in the panoramic map. The user can manually operate the panoramic sub-map in the display interface, such as rotating, zooming, moving and the like, so that the panoramic sub-map with different sizes and different directions can be displayed according to the needs of the user.
According to the positioning display method, the positioning request with the environment image can be sent to the second electronic device, so that the second electronic device determines the visual positioning result; and determining the matched panoramic sub-map from the panoramic map according to the visual positioning result, and displaying the panoramic sub-map in a display interface, thereby realizing accurate visual positioning in the panoramic map.
According to the positioning display method disclosed by the embodiment of the disclosure, the matched panoramic sub-map can be determined from the panoramic map according to the visual positioning result And displayed, SLAM (Simultaneous Localization And Mapping) is not required to be supported, the method can be applied to applications running on various mobile electronic devices, And applications of various application platforms such as iOS And Android can be supported; the method can also be applied to H5 pages, H5 small programs and the like, thereby greatly expanding the application range.
In one possible implementation, the method further includes:
determining a navigation path of the first electronic equipment according to the position information of the first electronic equipment and the set target geographic position;
determining a path position of the navigation path in a panoramic sub-map displayed on the display interface;
and drawing an augmented reality AR navigation path in the panoramic sub map according to the path position.
For example, in a case that a destination needs to be reached by navigation, the first electronic device may determine a navigation path according to its own location information and a target geographic location set by a user. According to the navigation path, the path position of the navigation path in the panoramic sub-map displayed on the display interface can be determined.
In one possible implementation, an augmented reality AR navigation path may be drawn in the panoramic sub-map based on the path location to instruct the user to follow the AR navigation path. When the user manually operates the panoramic sub-map in the display interface, the relative position between the AR navigation path and the panoramic sub-map is unchanged. The present disclosure does not limit the specific drawing manner of the AR navigation path.
In a possible implementation manner, in the process of user traveling, the first electronic device may send a positioning request at a certain frequency, and update the visual positioning result; and then updating the panoramic sub-map and the AR navigation path in the panoramic sub-map according to the visual positioning result, thereby realizing continuous positioning and navigation.
In one possible implementation, during the course of the user's travel, if the first electronic device deviates from the AR navigation path and reaches a preset threshold, the first electronic device may prompt the user to adjust the travel direction. For example, the user is reminded of deviating from the navigation path by means of voice, vibration and the like, and a visual effect such as highlighting or dynamically displaying the AR navigation path is added on the AR navigation path to prompt the user to adjust the traveling direction, so that the navigation effect is improved.
By the mode, the AR navigation path is combined with the 360-degree panoramic map, so that the navigation path is more visual, and the use convenience of a user is improved.
Fig. 2a and 2b show schematic diagrams of a display interface according to an embodiment of the present disclosure. As shown in fig. 2a, the first electronic device may be, for example, a smartphone. When the navigation starts, the positioning can be displayed, and the shooting interface of the camera can be displayed so as to acquire the environment image of the environment. If multiple environment images or a larger range of environment images need to be acquired, a prompt may be made, for example, "you can move your cell phone left or right".
After the environment image is collected, the first electronic device can send a positioning request to the cloud server so that the cloud server can perform visual positioning and return a visual positioning result. And according to the visual positioning result, the matched panoramic sub-map can be determined from the locally stored panoramic map and displayed in a display interface. The display interface can be displayed in the whole area or the partial area of the display interface according to the setting of a user. As shown in fig. 2b, a panoramic sub-map 21 is shown in the upper part of the display interface.
Under the condition that navigation is needed, the first electronic equipment can determine a navigation path according to the position information of the first electronic equipment and a target geographic position set by a user; according to the navigation path, the path position of the navigation path in the panoramic sub-map displayed on the display interface can be determined; from the path location, an AR navigation path may be drawn in the panoramic sub-map. As shown in fig. 2b, an AR navigation path 22 is drawn in the panoramic sub-map 21 of the display interface to instruct the user to follow the AR navigation path 22.
In one possible implementation, the method further includes:
determining a planar sub-map matched with the visual positioning result from a preset planar map according to the visual positioning result;
and displaying the plane sub map and the positioning identifier of the first electronic equipment in a display interface of the first electronic equipment.
For example, a two-dimensional planar sub-map may be shown in a local area of the display interface according to the user's settings. When the first electronic device receives the visual positioning result sent by the second electronic device, the matched plane sub-map can be determined from the preset plane map according to the visual positioning result, and the plane sub-map and the positioning identifier of the first electronic device are displayed in a display interface.
As shown in fig. 2b, a planar sub-map 23 may be shown in a lower region of the display interface, and a positioning indicator 24 may be shown in the planar sub-map. The positioning indicators 24 may include indicators indicating position (circles in fig. 2 b) and indicators indicating orientation (scalloped areas in fig. 2 b).
By the method, the position of the first electronic equipment in the plane map can be determined according to the visual positioning result, so that the positioning precision is improved; and moreover, the map information richness is improved by simultaneously displaying the panoramic map and the plane map, and the user can switch according to the use habit and the requirement, so that the use convenience of the user is further improved.
Fig. 3 shows a flow chart of a positioning method according to an embodiment of the present disclosure. The method may be applied to a second electronic device. As shown in fig. 3, the method includes:
in step S31, in the case of receiving a positioning request from a first electronic device, extracting feature information of an environment image in the positioning request;
in step S32, visually positioning the first electronic device according to the feature information of the environmental image and a preset point cloud map, to obtain a visual positioning result of the first electronic device, where the visual positioning result includes position information and posture information of the first electronic device;
in step S33, the visual positioning result is sent to the first electronic device, so that the first electronic device determines and displays a panoramic sub-map matching the visual positioning result.
For example, the second electronic device may be, for example, a cloud server storing a point cloud map of a geographic area (e.g., a mall interior area, a city area, etc.) where the first electronic device is located. When the first electronic device needs to determine its own position, a positioning request may be sent to the second electronic device, where the positioning request includes an environment image where the first electronic device is located.
In one possible implementation manner, when receiving the positioning request, the second electronic device may extract feature information of the environment image in the positioning request in step S31. For example, feature extraction is performed on the environment image through a pre-trained neural network, so as to obtain feature information of the environment image.
In one possible implementation manner, after obtaining the feature information of the environment image in step S32, the second electronic device may match the feature information with the point cloud map, and determine a matching visual positioning result, where the visual positioning result includes the position information and the posture information of the first electronic device. Wherein the location information may include location coordinates of the first electronic device; the attitude information may include an orientation, a pitch angle, etc. of the first electronic device.
In one possible implementation, in step S33, the second electronic device may return the visual positioning result to the first electronic device, so that the first electronic device determines and presents the panoramic sub-map matching the visual positioning result. When navigation is needed, the first electronic device can determine a navigation path according to the position of the first electronic device and a target geographic position set by a user, and then draw an AR navigation path in the panoramic sub-map.
According to the positioning method disclosed by the embodiment of the disclosure, the characteristic information of the environment image can be extracted when the positioning request is received; and determining a visual positioning result according to the characteristic information and the point cloud map, and sending the visual positioning result to the first electronic equipment, so that the first electronic equipment can be accurately visually positioned.
In a possible implementation manner, according to the environment image in the positioning request, the second electronic device may further identify scene content in the environment image, obtain an identification result, and determine extended content corresponding to the identification result. For example, the second electronic device may identify content such as a merchant, a service facility, a billboard, and the like in the scene, and obtain extended content such as corresponding merchant information, a service guide, marketing content, and the like; or acquiring the extended content set by the user, for example, automatically translating English in the scene into Chinese.
In one possible implementation manner, the second electronic device may send the recognition result and the corresponding extended content to the first electronic device. After receiving the identification result and the corresponding extended content, the first electronic device can display the extended content at the corresponding position in the panoramic sub-map to remind the user of paying attention to and knowing the extended content, so that the richness of the navigation content is further improved.
In one possible implementation, the method further includes:
carrying out feature extraction on a regional image of a geographic region to be navigated to obtain image features of the regional image; and generating a point cloud map and a panoramic map of the geographic area according to the image characteristics of the area image.
For example, data acquisition may be performed in advance before positioning is achieved by the first electronic device and the second electronic device. Regional images of the geographic region to be navigated may be acquired by an image acquisition device (e.g., cell phone, camera, etc.), potentially acquiring a large number of regional live-action images. The geographic area may be, for example, a mall interior area, a city area, etc.
In a possible implementation manner, the second electronic device may perform feature extraction on the plurality of region images respectively to obtain image features of the plurality of region images; according to the image characteristics of the images of the plurality of areas, the point cloud map and the panoramic map of the geographic area can be generated.
In this way, the mapping process can be realized for subsequent positioning matching.
In one possible implementation, the method further includes: and sending the panoramic map to the first electronic equipment.
That is, the second electronic device may transmit the generated panoramic map to the first electronic device so that the first electronic device locally stores the panoramic map of the geographic area to be navigated.
In the subsequent steps, the second electronic equipment can realize the visual positioning of the first electronic equipment according to the point cloud map stored in the cloud end and the environment image in the positioning request; the first electronic equipment can determine and display the matched panoramic sub-map according to the locally stored panoramic map and the requested visual positioning result, so that the whole processing process is realized.
Fig. 4 shows a schematic diagram of a positioning process according to an embodiment of the present disclosure. As shown in fig. 4, when performing visual positioning 43, the terminal device 41 sends a positioning request to the cloud server 42, where the positioning request includes an image (not shown) of an environment where the terminal device is located.
In an example, when the cloud server 42 receives the positioning request, the environment image in the positioning request is matched with the cloud point map stored in the cloud, a matching visual positioning result (not shown) is determined, and the visual positioning result is sent to the terminal device 41.
In an example, after receiving the visual positioning result, the terminal device 41 determines a matching panoramic sub-map (not shown) according to the visual positioning result and the local 360-degree panoramic map 44; the navigation route 45 is drawn in the panoramic sub-map and the navigation route are shown in the display interface.
In an example, before the positioning is implemented, data acquisition 46 of the whole geographic area to be navigated may be performed in advance through a mobile phone, a camera, and other acquisition devices, a live-action image of the geographic area is acquired, and a point cloud map and a 360-degree panoramic map are generated respectively through the cloud server 42, the point cloud map is stored in the cloud server 42, and the 360-degree panoramic map is sent to the terminal device 41.
According to the positioning display method disclosed by the embodiment of the disclosure, various application platforms can be supported, such as iOS, Android, H5 pages, H5 small programs and the like; the method can be operated on various mobile devices, AR glasses And the like, And SLAM (Simultaneous localization And Mapping) does not need to be supported, so that the application range is greatly expanded.
According to the embodiment of the disclosure, accurate visual positioning in a panoramic map can be realized; the augmented reality and the 360-degree panorama are combined, the route in the 360-degree panoramic map is updated in real time in the walking process, the navigation route can be accurate and stable, and meanwhile, the navigation route is more visual. According to the embodiment of the disclosure, the navigation method and the navigation device can be applied to navigation of indoor and outdoor scenes such as superstores, transportation hubs, hospitals and large exhibition halls, and convenience in use of users is improved.
It is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted. Those skilled in the art will appreciate that in the above methods of the specific embodiments, the specific order of execution of the steps should be determined by their function and possibly their inherent logic.
In addition, the present disclosure also provides a positioning display apparatus, a positioning apparatus, an electronic device, a computer-readable storage medium, and a program, which can be used to implement any one of the positioning display methods or the positioning methods provided by the present disclosure, and the corresponding technical solutions and descriptions and corresponding descriptions in the method sections are not repeated.
FIG. 5 shows a block diagram of a positioning demonstration apparatus according to an embodiment of the present disclosure. The apparatus is applied to a first electronic device, and as shown in fig. 5, the apparatus includes:
a request sending module 51, configured to send a positioning request to a second electronic device, where the positioning request includes an environment image where the first electronic device is located;
a panorama matching module 52, configured to determine, from a preset panorama map, a panorama sub-map that matches a visual positioning result when receiving the visual positioning result sent by the second electronic device, where the visual positioning result includes position information and posture information of the first electronic device;
a map display module 53, configured to display the panoramic sub-map in a display interface of the first electronic device.
In one possible implementation, the apparatus further includes: the path determining module is used for determining a navigation path of the first electronic equipment according to the position information of the first electronic equipment and the set target geographic position; the position determining module is used for determining the path position of the navigation path in the panoramic sub-map displayed on the display interface; and the path drawing module is used for drawing the augmented reality AR navigation path in the panoramic sub map according to the path position.
In one possible implementation, the apparatus further includes: the plane matching module is used for determining a plane sub-map matched with the visual positioning result from a preset plane map according to the visual positioning result; and the planar map display module is used for displaying the planar sub-map and the positioning identifier of the first electronic equipment in a display interface of the first electronic equipment.
FIG. 6 shows a block diagram of a positioning device according to an embodiment of the present disclosure. The apparatus is applied to a second electronic device, and as shown in fig. 6, the apparatus includes:
the feature extraction module 61 is configured to, in a case where a positioning request from a first electronic device is received, extract feature information of an environment image in the positioning request;
the visual positioning module 62 is configured to perform visual positioning on the first electronic device according to the feature information of the environment image and a preset point cloud map to obtain a visual positioning result of the first electronic device, where the visual positioning result includes position information and posture information of the first electronic device;
a result sending module 63, configured to send the visual positioning result to the first electronic device, so that the first electronic device determines and displays the panoramic sub-map matched with the visual positioning result.
In one possible implementation, the apparatus further includes: the regional characteristic extraction module is used for extracting the characteristics of a regional image of a geographic region to be navigated to obtain the image characteristics of the regional image; and the map generation module is used for generating a point cloud map and a panoramic map of the geographic area according to the image characteristics of the area image.
In one possible implementation, the apparatus further includes: and the panoramic map sending module is used for sending the panoramic map to the first electronic equipment.
In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.
Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above-mentioned method. The computer readable storage medium may be a non-volatile computer readable storage medium.
An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.
The embodiments of the present disclosure also provide a computer program product, which includes computer readable code, and when the computer readable code runs on a device, a processor in the device executes instructions for implementing the positioning presentation method or the positioning method provided in any of the above embodiments.
The embodiments of the present disclosure also provide another computer program product for storing computer readable instructions, which when executed cause a computer to execute the positioning display method or the operation of the positioning method provided in any of the above embodiments.
The electronic device may be provided as a terminal, server, or other form of device.
Fig. 7 illustrates a block diagram of an electronic device 800 in accordance with an embodiment of the disclosure. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.
Referring to fig. 7, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.
The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.
The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.
Fig. 8 illustrates a block diagram of an electronic device 1900 in accordance with an embodiment of the disclosure. For example, the electronic device 1900 may be provided as a server. Referring to fig. 8, electronic device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the above-described method.
The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system, such as Windows Server, stored in memory 1932TM，Mac OS XTM，UnixTM,LinuxTM，FreeBSDTMOr the like.
In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1932, is also provided that includes computer program instructions executable by the processing component 1922 of the electronic device 1900 to perform the above-described methods.
The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: 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 Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
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 instructions, which comprises one or more executable instructions for implementing the specified logical function(s). 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 and/or flowchart illustration, and combinations of blocks in the block diagrams and/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.
The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A positioning display method is applied to first electronic equipment and comprises the following steps:
sending a positioning request to second electronic equipment, wherein the positioning request comprises an environment image where the first electronic equipment is located;
under the condition that a visual positioning result sent by the second electronic equipment is received, determining a panoramic sub-map matched with the visual positioning result from a preset panoramic map, wherein the visual positioning result comprises position information and posture information of the first electronic equipment;
displaying the panoramic sub-map in a display interface of the first electronic device.
2. The method of claim 1, further comprising:
determining a navigation path of the first electronic equipment according to the position information of the first electronic equipment and the set target geographic position;
determining a path position of the navigation path in a panoramic sub-map displayed on the display interface;
and drawing an augmented reality AR navigation path in the panoramic sub map according to the path position.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
determining a planar sub-map matched with the visual positioning result from a preset planar map according to the visual positioning result;
and displaying the plane sub map and the positioning identifier of the first electronic equipment in a display interface of the first electronic equipment.
4. A positioning method applied to a second electronic device includes:
extracting feature information of an environment image in a positioning request when the positioning request from a first electronic device is received;
performing visual positioning on the first electronic equipment according to the feature information of the environment image and a preset point cloud map to obtain a visual positioning result of the first electronic equipment, wherein the visual positioning result comprises position information and posture information of the first electronic equipment;
and sending the visual positioning result to the first electronic equipment so that the first electronic equipment determines and displays the panoramic sub map matched with the visual positioning result.
5. The method of claim 4, further comprising:
carrying out feature extraction on a regional image of a geographic region to be navigated to obtain image features of the regional image;
and generating a point cloud map and a panoramic map of the geographic area according to the image characteristics of the area image.
6. The method of claim 5, further comprising:
and sending the panoramic map to the first electronic equipment.
7. A positioning display device applied to a first electronic device, comprising:
the request sending module is used for sending a positioning request to second electronic equipment, wherein the positioning request comprises an environment image where the first electronic equipment is located;
the panorama matching module is used for determining a panorama sub-map matched with the visual positioning result from a preset panorama map under the condition of receiving the visual positioning result sent by the second electronic equipment, wherein the visual positioning result comprises the position information and the posture information of the first electronic equipment;
and the map display module is used for displaying the panoramic sub map in a display interface of the first electronic equipment.
8. A positioning device applied to a second electronic device, comprising:
the device comprises a feature extraction module, a feature extraction module and a feature extraction module, wherein the feature extraction module is used for extracting feature information of an environment image in a positioning request under the condition that the positioning request from a first electronic device is received;
the visual positioning module is used for carrying out visual positioning on the first electronic equipment according to the feature information of the environment image and a preset point cloud map to obtain a visual positioning result of the first electronic equipment, wherein the visual positioning result comprises position information and posture information of the first electronic equipment;
and the result sending module is used for sending the visual positioning result to the first electronic equipment so as to enable the first electronic equipment to determine and display the panoramic sub map matched with the visual positioning result.
9. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to invoke the memory-stored instructions to perform the positioning presentation method of any one of claims 1 to 3, or to perform the positioning method of any one of claims 4 to 6.
10. A computer-readable storage medium, on which computer program instructions are stored, which, when executed by a processor, implement the positioning presentation method of any one of claims 1 to 3, or implement the positioning method of any one of claims 4 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010499311.2A CN111664866A (en) | 2020-06-04 | 2020-06-04 | Positioning display method and device, positioning method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010499311.2A CN111664866A (en) | 2020-06-04 | 2020-06-04 | Positioning display method and device, positioning method and device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111664866A true CN111664866A (en) | 2020-09-15 |
Family
ID=72386015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010499311.2A Pending CN111664866A (en) | 2020-06-04 | 2020-06-04 | Positioning display method and device, positioning method and device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111664866A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112307363A (en) * | 2020-11-05 | 2021-02-02 | 深圳市慧鲤科技有限公司 | Virtual-real fusion display method and device, electronic equipment and storage medium |
| CN112362047A (en) * | 2020-11-26 | 2021-02-12 | 浙江商汤科技开发有限公司 | Positioning method and device, electronic equipment and storage medium |
| CN112432636A (en) * | 2020-11-30 | 2021-03-02 | 浙江商汤科技开发有限公司 | Positioning method and device, electronic equipment and storage medium |
| CN112683262A (en) * | 2020-11-30 | 2021-04-20 | 浙江商汤科技开发有限公司 | Positioning method and device, electronic equipment and storage medium |
| CN112738331A (en) * | 2020-12-31 | 2021-04-30 | 深圳市慧鲤科技有限公司 | Message information display method and device, electronic equipment and storage medium |
| CN112927293A (en) * | 2021-03-26 | 2021-06-08 | 深圳市慧鲤科技有限公司 | AR scene display method and device, electronic equipment and storage medium |
| CN112950712A (en) * | 2021-02-25 | 2021-06-11 | 深圳市慧鲤科技有限公司 | Positioning method and device, electronic equipment and storage medium |
| CN112965652A (en) * | 2021-03-26 | 2021-06-15 | 深圳市慧鲤科技有限公司 | Information display method and device, electronic equipment and storage medium |
| CN114297534A (en) * | 2022-02-28 | 2022-04-08 | 京东方科技集团股份有限公司 | Method, system and storage medium for interactively searching target object |
| CN114413919A (en) * | 2021-12-30 | 2022-04-29 | 联想(北京)有限公司 | Navigation method, device, equipment and computer storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105318881A (en) * | 2014-07-07 | 2016-02-10 | 腾讯科技（深圳）有限公司 | Map navigation method, and apparatus and system thereof |
| CN106799993A (en) * | 2017-01-09 | 2017-06-06 | 智车优行科技（北京）有限公司 | Streetscape acquisition method and system, vehicle |
| CN108717710A (en) * | 2018-05-18 | 2018-10-30 | 京东方科技集团股份有限公司 | Localization method, apparatus and system under indoor environment |
| CN110322511A (en) * | 2019-06-28 | 2019-10-11 | 华中科技大学 | A kind of semantic SLAM method and system based on object and plane characteristic |
| CN110728751A (en) * | 2019-06-19 | 2020-01-24 | 武汉科技大学 | Construction method of indoor 3D point cloud semantic map |
| CN111044061A (en) * | 2018-10-12 | 2020-04-21 | 腾讯大地通途（北京）科技有限公司 | Navigation method, device, equipment and computer readable storage medium |
| CN111065891A (en) * | 2018-08-16 | 2020-04-24 | 北京嘀嘀无限科技发展有限公司 | Indoor navigation system based on augmented reality |
| US20200158528A1 (en) * | 2017-07-17 | 2020-05-21 | Huizhou Tcl Mobile Communication Co., Ltd. | Full-vision navigation and positioning method, intelligent terminal and storage device |
-
2020
- 2020-06-04 CN CN202010499311.2A patent/CN111664866A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105318881A (en) * | 2014-07-07 | 2016-02-10 | 腾讯科技（深圳）有限公司 | Map navigation method, and apparatus and system thereof |
| CN106799993A (en) * | 2017-01-09 | 2017-06-06 | 智车优行科技（北京）有限公司 | Streetscape acquisition method and system, vehicle |
| US20200158528A1 (en) * | 2017-07-17 | 2020-05-21 | Huizhou Tcl Mobile Communication Co., Ltd. | Full-vision navigation and positioning method, intelligent terminal and storage device |
| CN108717710A (en) * | 2018-05-18 | 2018-10-30 | 京东方科技集团股份有限公司 | Localization method, apparatus and system under indoor environment |
| CN111065891A (en) * | 2018-08-16 | 2020-04-24 | 北京嘀嘀无限科技发展有限公司 | Indoor navigation system based on augmented reality |
| CN111044061A (en) * | 2018-10-12 | 2020-04-21 | 腾讯大地通途（北京）科技有限公司 | Navigation method, device, equipment and computer readable storage medium |
| CN110728751A (en) * | 2019-06-19 | 2020-01-24 | 武汉科技大学 | Construction method of indoor 3D point cloud semantic map |
| CN110322511A (en) * | 2019-06-28 | 2019-10-11 | 华中科技大学 | A kind of semantic SLAM method and system based on object and plane characteristic |
Non-Patent Citations (1)
| Title |
|---|
| 纪成，等: "基于无人机的连岛全景图制作", 《江苏海洋大学学报》 * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112307363A (en) * | 2020-11-05 | 2021-02-02 | 深圳市慧鲤科技有限公司 | Virtual-real fusion display method and device, electronic equipment and storage medium |
| CN112362047A (en) * | 2020-11-26 | 2021-02-12 | 浙江商汤科技开发有限公司 | Positioning method and device, electronic equipment and storage medium |
| WO2022110785A1 (en) * | 2020-11-30 | 2022-06-02 | 浙江商汤科技开发有限公司 | Positioning method and apparatus, electronic device, storage medium, computer program product, and computer program |
| CN112432636A (en) * | 2020-11-30 | 2021-03-02 | 浙江商汤科技开发有限公司 | Positioning method and device, electronic equipment and storage medium |
| CN112683262A (en) * | 2020-11-30 | 2021-04-20 | 浙江商汤科技开发有限公司 | Positioning method and device, electronic equipment and storage medium |
| CN112432636B (en) * | 2020-11-30 | 2023-04-07 | 浙江商汤科技开发有限公司 | Positioning method and device, electronic equipment and storage medium |
| WO2022110777A1 (en) * | 2020-11-30 | 2022-06-02 | 浙江商汤科技开发有限公司 | Positioning method and apparatus, electronic device, storage medium, computer program product, and computer program |
| CN112738331A (en) * | 2020-12-31 | 2021-04-30 | 深圳市慧鲤科技有限公司 | Message information display method and device, electronic equipment and storage medium |
| CN112950712A (en) * | 2021-02-25 | 2021-06-11 | 深圳市慧鲤科技有限公司 | Positioning method and device, electronic equipment and storage medium |
| WO2022179080A1 (en) * | 2021-02-25 | 2022-09-01 | 深圳市慧鲤科技有限公司 | Positioning method and apparatus, electronic device, storage medium, program and product |
| CN112965652A (en) * | 2021-03-26 | 2021-06-15 | 深圳市慧鲤科技有限公司 | Information display method and device, electronic equipment and storage medium |
| CN112927293A (en) * | 2021-03-26 | 2021-06-08 | 深圳市慧鲤科技有限公司 | AR scene display method and device, electronic equipment and storage medium |
| CN114413919A (en) * | 2021-12-30 | 2022-04-29 | 联想(北京)有限公司 | Navigation method, device, equipment and computer storage medium |
| CN114297534A (en) * | 2022-02-28 | 2022-04-08 | 京东方科技集团股份有限公司 | Method, system and storage medium for interactively searching target object |
| CN114297534B (en) * | 2022-02-28 | 2022-07-22 | 京东方科技集团股份有限公司 | Method, system and storage medium for interactively searching target object |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111664866A (en) | Positioning display method and device, positioning method and device and electronic equipment | |
| CN111595349A (en) | Navigation method and device, electronic equipment and storage medium | |
| CN111323007B (en) | Positioning method and device, electronic equipment and storage medium | |
| CN112991553B (en) | Information display method and device, electronic equipment and storage medium | |
| CN111815779A (en) | Object display method and device, positioning method and device and electronic equipment | |
| CN113077647B (en) | Parking lot navigation method and device, electronic equipment and storage medium | |
| CN111563138B (en) | Positioning method and device, electronic equipment and storage medium | |
| WO2022134475A1 (en) | Point cloud map construction method and apparatus, electronic device, storage medium and program | |
| CN112432637B (en) | Positioning method and device, electronic equipment and storage medium | |
| CN112149659B (en) | Positioning method and device, electronic equipment and storage medium | |
| CN111860373B (en) | Target detection method and device, electronic equipment and storage medium | |
| CN112950712B (en) | Positioning method and device, electronic equipment and storage medium | |
| CN113989469A (en) | AR (augmented reality) scenery spot display method and device, electronic equipment and storage medium | |
| CN112307363A (en) | Virtual-real fusion display method and device, electronic equipment and storage medium | |
| CN112837372A (en) | Data generation method and device, electronic equipment and storage medium | |
| CN111354444A (en) | Pathological section image display method and device, electronic equipment and storage medium | |
| CN112432636B (en) | Positioning method and device, electronic equipment and storage medium | |
| WO2022237071A1 (en) | Locating method and apparatus, and electronic device, storage medium and computer program | |
| WO2022110777A1 (en) | Positioning method and apparatus, electronic device, storage medium, computer program product, and computer program | |
| CN113177561B (en) | Multi-user aggregation method and device, electronic equipment and storage medium | |
| CN113611152A (en) | Parking lot navigation method and device, electronic equipment and storage medium | |
| CN111078346B (en) | Target object display method and device, electronic equipment and storage medium | |
| CN112461245A (en) | Data processing method and device, electronic equipment and storage medium | |
| CN112148130A (en) | Information processing method and device, electronic equipment and storage medium | |
| CN112965652A (en) | Information display method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200915 |