WO2022237071A1

WO2022237071A1 - Locating method and apparatus, and electronic device, storage medium and computer program

Info

Publication number: WO2022237071A1
Application number: PCT/CN2021/125018
Authority: WO
Inventors: 许文航; 吴佳飞; 张广程; 闫俊杰
Original assignee: 浙江商汤科技开发有限公司
Priority date: 2021-05-14
Filing date: 2021-10-20
Publication date: 2022-11-17
Also published as: KR20220155421A; CN113192139A

Abstract

A locating method and apparatus, and an electronic device, a storage medium and a computer program. The method comprises: acquiring relative location relationships respectively between a target object and each of a plurality of collection apparatuses, and acquiring location information of the plurality of collection apparatuses (S11), wherein the plurality of collection apparatuses are used for performing image collection on the target object; and locating the target object according to the relative location relationships and the location information, so as to obtain location information of the target object (S12). By means of the method, it is possible to locate a target object and improve the locating accuracy.

Description

Positioning method and device, electronic device, storage medium and computer program

Cross References to Related Applications

This application is based on a Chinese patent application with application number 202110528927.2 and a filing date of May 14, 2021, and claims the priority of this Chinese patent application. The entire content of this Chinese patent application is hereby incorporated by reference in its entirety into this application .

technical field

The present application relates to the technical field of computer vision, involving but not limited to a positioning method and device, electronic equipment, storage media and computer programs.

Background technique

With the development of deep learning technology, object detection technology based on computer vision has been greatly developed and improved. Object detection technology can determine the target object of interest in the image, determine the category and image position of the target object. Object detection techniques can also serve as the basis for object localization tasks.

At present, target positioning based on target detection technology is usually based on a binocular camera positioning method with a fixed distance between eyes, but this method has a large positioning error.

Contents of the invention

Embodiments of the present application provide a positioning method and device, electronic equipment, storage media, and computer programs.

In one aspect of the embodiments of the present application, a positioning method is provided, which is applied to a service node, and the method includes: obtaining the relative positional relationship between the target object and multiple collection devices, and obtaining the location of the multiple collection devices Position information, wherein the plurality of acquisition devices are used for image acquisition of the target object; according to the relative position relationship and the position information, the target object is positioned to obtain the position information of the target object.

In one or more possible implementation manners, the method further includes: sending the target features to the multiple acquisition devices in the camera network, so that the multiple capture devices determine according to the target features of the target audience.

In one or more possible implementation manners, the positioning of the target object according to the relative position relationship and the position information to obtain the position information of the target object includes: Select two collection devices in the device, wherein the two collection devices form a triangle with the target object; according to the relative positional relationship between the target object and the two collection devices, and the two collection devices The location information of the target object is located, and the location information of the target object is obtained.

In one or more possible implementations, the relative positional relationship includes declination information, and the relative positional relationship between the target object and the two acquisition devices and the relative positional relationship between the two acquisition devices Position information, locating the target object, and obtaining the position information of the target object, including: determining the distance between the two collection devices according to the position information of the two collection devices; according to the distance and Declination information between the target object and the two acquisition devices to obtain position information of the target object, wherein the declination information represents the deviation of the target object relative to the reference direction of the acquisition devices angle.

In one or more possible implementation manners, the obtaining the position information of the target object according to the distance and the deviation angle information between the target object and the two collection devices includes: obtaining the The orientation information of each acquisition device in the two acquisition devices; according to the orientation information of each acquisition device and the declination information between the target object and each acquisition device, determine the first interior angle and sum of the first interior angle in the triangle The second internal angle, wherein, the side where the first internal angle is located and the side where the second internal angle is located pass through the line connecting the two collection devices; according to the first internal angle, the second internal angle and the distance , to obtain the location information of the target object.

In one or more possible implementation manners, the method further includes: marking the track of the target object on an electronic map according to the location information of the target object.

In one or more possible implementation manners, the acquiring the relative positional relationship between the target object and the plurality of acquisition devices respectively includes: acquiring the acquisition images of the plurality of acquisition devices; determining the position of the target object in the An image position in the captured image of each capture device; based on the image position, a relative positional relationship between the target object and each capture device is obtained.

In one or more possible implementation manners, the location information includes latitude and longitude coordinates; the service node is a control device of a camera network, or the service node is any collection device in the camera network.

An aspect of the embodiments of the present application provides a positioning method applied to a collection device, the method comprising: acquiring a collection image; based on the collection image, determining a relative positional relationship between a target object and the collection device; sending the relative positional relationship between the target object and the collection device to a service node, wherein the service node is configured to use the relative positional relationship between the target object and multiple collection devices and the Collecting the location information of the device, locating the target object, and obtaining the location information of the target object.

In one or more possible implementations, the relative positional relationship includes declination information, and determining the relative positional relationship between the target object and the acquisition device based on the acquired image includes: performing target detection on the image to obtain the image position of the target object in the collected image; based on the image position of the target object, determining the declination information between the target object and the acquisition device, wherein the The deflection angle information represents a deviation angle of the target object relative to a reference direction of the acquisition device.

In one or more possible implementations, the method further includes: receiving the target feature sent by the service node; determining the target object in the collected image according to the target feature; or acquiring annotation information input by the user ; Determining the target object in the collected image according to the annotation information.

In one aspect of the embodiments of the present application, a positioning device is provided, which is applied to a service node, and the device includes:

An acquisition module configured to acquire a relative positional relationship between the target object and multiple acquisition devices, and acquire positional information of the plurality of acquisition devices, wherein the plurality of acquisition devices are used for image acquisition of the target object;

The positioning module is configured to locate the target object according to the relative position relationship and the position information, and obtain the position information of the target object.

In one or more possible implementations, the device further includes:

The sending module is configured to send the target features to the plurality of acquisition devices in the camera network, so that the plurality of acquisition devices determine the target object in the captured image according to the target features.

In one or more possible implementations, the positioning module is configured to select two collection devices from the plurality of collection devices, wherein the two collection devices form a triangle with the target object; according to the The relative positional relationship between the target object and the two collection devices and the position information of the two collection devices are used to locate the target object and obtain the position information of the target object.

In one or more possible implementation manners, the relative position relationship includes declination information, and the positioning module is configured to determine the distance between the two collection devices according to the position information of the two collection devices ; According to the distance and the deviation angle information between the target object and the two acquisition devices, the position information of the target object is obtained, wherein the deviation angle information indicates that the target object is relative to the acquisition device The angle of deviation from the base orientation of the device.

In one or more possible implementations, the positioning module is configured to acquire the orientation information of each of the two acquisition devices; according to the orientation information of each of the acquisition devices and the relationship between the target object and The declination information between each acquisition device determines the first interior angle and the second interior angle in the triangle, wherein the side where the first interior angle is located and the side where the second interior angle is located pass through the two acquisition devices The connection line of the device; according to the first interior angle, the second interior angle and the distance, the position information of the target object is obtained.

In one or more possible implementation manners, the device further includes: a marking module configured to mark the track of the target object on the electronic map according to the location information of the target object.

In one or more possible implementations, the acquiring module is configured to acquire the captured images of the multiple capturing devices; determine the image position of the target object in the captured images of each capturing device; based on The image position acquires a relative positional relationship between the target object and each acquisition device.

In one aspect of the embodiments of the present application, a positioning device is provided, and the device includes:

An acquisition module configured to acquire the collected image;

A determining module, based on the collected image, determines the relative positional relationship between the target object and the collection device;

The sending module is configured to send the relative positional relationship between the target object and the collection device to a service node, wherein the service node is configured to use the relative positional relationship between the target object and a plurality of collection devices respectively and the location information of the plurality of collection devices, and locate the target object to obtain the location information of the target object.

In one or more possible implementation manners, the relative position relationship includes declination information, and the determining module is configured to perform target detection on the collected image to obtain an image of the target object in the collected image position; based on the image position of the target object, determine the deviation angle information between the target object and the acquisition device, wherein the deviation angle information represents the position of the target object relative to the reference direction of the acquisition device Angle of deviation.

In one or more possible implementations, the determining module is further configured to receive the target feature sent by the service node; determine the target object in the collected image according to the target feature; or, obtain the user input Labeling information: determining the target object in the collected image according to the labeling information.

An aspect of the embodiments of the present application provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to call the instructions stored in the memory to execute the above method.

An aspect of the embodiments of the present application provides a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is implemented.

An aspect of the embodiments of the present application provides a computer program, including computer readable code, when the computer readable code is run in an electronic device, a processor in the electronic device executes any one of the above The positioning method described in the item.

In the embodiment of the present application, by obtaining the relative positional relationship between the target object and multiple collection devices and the location information of multiple collection devices, and then according to the relative positional relationship between the target object and multiple collection devices and multiple collection devices The location information of the device is used to locate the target object and obtain the location information of the target object. In this way, the positioning of the target object can be realized through the camera network formed by multiple acquisition devices, and the accuracy of positioning can be improved.

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 application. Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings.

Description of drawings

The accompanying drawings here are incorporated into the specification and constitute a part of the specification. These drawings show embodiments consistent with the application, and are used together with the description to describe the technical solution of the application.

FIG. 1 shows a scene diagram of interaction between a service node and multiple collection devices according to an embodiment of the present application.

FIG. 2 shows a first flowchart of the positioning method according to the embodiment of the present application.

FIG. 3 shows the second flowchart of the positioning method according to the embodiment of the present application.

FIG. 4 shows a schematic diagram of camera network positioning according to an embodiment of the present application.

FIG. 5 shows a first block diagram of a positioning device according to an embodiment of the present application.

FIG. 6 shows a second block diagram of a positioning device according to an embodiment of the present application.

FIG. 7 shows a first block diagram of an electronic device according to an embodiment of the present application.

FIG. 8 shows a second block diagram of an electronic device according to an embodiment of the present application.

Detailed ways

Various exemplary embodiments, features, and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown 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 superior or better than other embodiments.

The term "and/or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and/or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations. In addition, the term "at least one" herein means any one of a variety or any combination of at least two of the more, for example, including at least one of A, B, and C, which may mean including from A, Any one or more elements selected from the set formed by B and C.

In addition, in order to better illustrate the present application, numerous implementation details are given in the following implementation manners. It will be understood by those skilled in the art that the present application may be practiced without certain of the implementation details. In some instances, methods, means, components and circuits well known to those skilled in the art have not been described in detail in order to highlight the gist of the present application.

The positioning solutions provided in the embodiments of the present application can be applied to scenarios such as positioning systems, multi-camera networking, and edge nodes. For example, in relatively open scenes such as squares, parks, and classrooms, multi-point cameras can be used to arrange a camera network, and the location information of the target object can be obtained in real time through the camera network, and can be marked on the electronic map in real time. In security scenarios, the network of multiple cameras can be used to realize the functions of target tracking and positioning, which can be applied to target positioning in different scenarios.

FIG. 1 shows a scene diagram of interaction between a service node and multiple collection devices according to an embodiment of the present application. In the embodiment of the present application, the collection device may be an edge device, and the service node may be a cloud device, or a central device or a control device among multiple edge devices. The service node can perform information interaction with each collection device, and the service node can summarize information of multiple collection devices, such as obtaining orientation information and/or location information of multiple collection devices (collection device 1 to collection device 5). In some implementations, the collection device may have processing capabilities, and may determine the relative positional relationship between the target object and the collection device based on the collected images, and the service node may send the relative positional relationship between the target object and the multiple collection devices according to the relative positional relationship between the target object and the multiple collection devices. Positional relationship, to determine the position of the target object. In some implementation manners, when the processing capability of the collection device is insufficient, the service node may obtain the collected images of multiple collection devices, and determine the location of the target object through the collection images sent by the multiple collection devices. In this way, the influence of the insufficient perception capability of the edge device itself can be reduced, effective association of information of each edge device can be realized, and the positioning of the target object can be realized.

The positioning method provided in the embodiment of the present application may be executed by a terminal device, a server or other types of electronic devices, wherein the terminal device may be user equipment (User Equipment, UE), mobile device, user terminal, cellular phone, cordless phone, personal Digital assistants (Personal Digital Assistant, PDA), handheld devices, computing devices, in-vehicle devices, wearable devices, etc. In some possible implementation manners, the data processing method may be implemented by a processor invoking computer-readable instructions stored in a memory. Alternatively, the method may be performed by a server.

Fig. 2 shows the flowchart one of the location method of the embodiment of the present application, as shown in Fig. 2, described location method is applied in the service node, comprises:

Step S11 , acquiring the relative positional relationship between the target object and the plurality of acquisition devices, and acquiring the position information of the plurality of acquisition devices.

In the embodiment of the present application, multiple acquisition devices can form a camera network, and different acquisition devices can communicate with each other, and information sharing among different acquisition devices can be realized. The collection device may be a device with an image collection function, for example, the collection device may be a terminal device, an edge device, a server, etc. with a shooting function. The collection device in the camera network can collect images of target objects within the field of view. In some implementations, the collection device can determine the relative positional relationship between the target object and itself according to the collected images. Target objects can be people or objects. The service node can obtain the relative positional relationship determined by multiple acquisition devices in the camera network, and one acquisition device can correspond to a relative positional relationship. The service node may also obtain location information of multiple collection devices, for example, may obtain pre-stored location information of multiple collection devices in the storage unit, or may obtain location information of the collection devices transmitted by the collection device.

Here, the relative positional relationship can be understood as the position of the target object relative to the collection device based on the collection device, for example, the distance information and/or deviation angle information of the collection device relative to the collection device. Wherein, the deflection angle information may represent the deviation angle of the target object relative to the reference direction of the collection device, that is, it may be understood that the deflection angle information may represent the deviation angle of the target object from the reference direction of the collection device. The reference directions of different acquisition devices may be the same or different, and may be set according to actual application scenarios. For example, the true north direction can be regarded as 0° (degrees), and the horizontal direction can be divided into 360° in the clockwise direction, and the reference direction of the acquisition device can be uniformly set as the true north direction. At this time, the declination information can be regarded as the The azimuth angle of the acquisition device. For another example, the reference direction of the collection device can be set as the azimuth of the collection device's orientation, and the deviation angle information at this time can be regarded as the deviation angle between the target object and the collection device's orientation.

Here, the service node can be the control device of the camera network, such as a server, a control terminal and other equipment, through which the information of multiple acquisition devices can be summarized and some control instructions can be issued to the multiple acquisition devices. In some implementations, the service node can be any collection device in the camera network, so that the information of multiple collection devices can be aggregated through one collection device in the camera network, and the control of other collection devices in the camera network can be realized , applicable to various application scenarios.

Step S12 , according to the relative position relationship and the position information, locate the target object, and obtain the position information of the target object.

In the embodiment of the present application, the service node may locate the target object according to the relative positional relationship between the target object and multiple collection devices and the location information of the multiple collection devices. For example, two collection devices can be selected arbitrarily from among multiple collection devices, or, among multiple collection devices, two collection devices corresponding to the first obtained relative positional relationship can be selected, and according to the relative position relationship of the target object The position information of the target object is calculated from the relative positional relationship between the collection devices and the position information of the two collection devices. For another example, multiple location information of the target object can be obtained according to the relative positional relationship between every two collection devices and the target object in the multiple collection devices, and the corresponding position information of the two collection devices, for example, among the three collection devices , can be combined into two groups, and the relative positional relationship between the two acquisition devices and the target object in each group and the position information of the two acquisition devices can determine a position information of the target object. Then take the average of multiple position information of the target object, and the obtained average value is the final position information of the target object.

For example, each acquisition device can be used as a vertex, and the ray emitted from the vertex can be determined according to the deflection angle information between the target object and each acquisition device, and then the two rays emitted from the vertices of the two acquisition devices can intersect at One point, the position of the intersection point can be regarded as the position of the target object, and the position information of the target object is obtained to realize the positioning of the target object. For another example, each collecting device can be used as a vertex, and a circle centered on each vertex can be determined according to the distance information between the target object and each collecting device, and then the circles centered on the vertices of the two collecting devices can intersect at One point, the position of the intersection point can be regarded as the position of the target object, and the position information of the target object is obtained to realize the positioning of the target object.

In the embodiment of the present application, the positioning of the target object can be realized through a camera network composed of multiple acquisition devices. The acquisition device can be used as an edge node in the edge device scenario, so that the information of each edge device can be effectively associated, compared with some solutions in the related art that are difficult to effectively use the information of the edge device due to the insufficient perception ability of the edge device itself , can enhance the effective utilization of information of edge devices.

In some implementation manners, the service node may also acquire the collected images of multiple collection devices, and further determine the image position of the target object in the collected images of each collection device. Then, based on the image position, the relative positional relationship between the target object and each acquisition device is obtained.

For the collected images of each collection device, the service node can perform target detection on the collected images. For example, some target detection algorithms can be used, such as YOLO, SSD and other target detection algorithms, to perform target detection on the collected images to obtain the target object in the collected image image location in . Then the relative positional relationship between the target object and the collected image can be determined according to the image position of the target object. For example, the corresponding relationship between each pixel position in the captured image and the offset angle of its own standard direction can be preset. Based on the corresponding relationship, the pixel position where the center of the target object is located and the corresponding offset angle can be determined. , that is, the declination angle information of the target object can be obtained. For another example, the collected image may be a depth image, and the distance information between the target object and the collection device may be determined according to the image depth of the image position where the target object is located. In this way, the service node can quickly determine the relative positional relationship between the target object and each collection device.

In some implementation manners, when locating the target object according to the relative positional relationship between the target object and the plurality of acquisition devices and the position information of the plurality of acquisition devices, two acquisition devices may be selected from the plurality of acquisition devices, The two acquisition devices can form a triangle with the target object, and then locate the target object according to the relative positional relationship between the target object and the two acquisition devices and the position information of the two acquisition devices, and obtain the position of the target object information. For example, it is possible to randomly select two collection devices among multiple collection devices, and then judge whether the two collection devices can Form a triangle with the target object. For example, the first connection line between the two collection devices can be established according to the position information of the two collection devices, and then according to the deviation angle information of the target object relative to the collection device, the distance between the target object and the two collection devices can be judged. Whether the second connection lines of the target object and the first connection line have angles other than 0, if the second connection lines between the target object and the two collection devices have angles other than 0 with the first connection line , it can be considered that the two acquisition devices can form a triangle with the target object on the same plane, otherwise, it can be considered that the two acquisition devices cannot form a triangle with the target object on the same plane. In the case that the two acquisition devices can form a triangle with the target object, the position information of the target object can be calculated further according to the relative positional relationship between the target object and the two acquisition devices, and the position information of the two acquisition devices, In this way, precise positioning of the target object can be achieved.

In some examples, the above-mentioned relative position relationship includes declination information. When locating the target object, the distance between the two collection devices can be determined first according to the position information of the two collection devices, and then according to the distance between the two collection devices and the distance between the target object and the two collection devices The declination information between the two acquisition devices can be used to obtain the position information of the target object. For example, the distance formula can be used to calculate the distance between the two acquisition devices according to the position information of the two acquisition devices, and then the triangulation formula can be used to calculate the distance between the two acquisition devices according to the relative Based on the deflection angle information of the two collecting devices and the distance between the two collecting devices, the position coordinates of the target object are calculated. In this way, the position coordinates of the target object can be obtained through simple calculation, thereby improving the efficiency of positioning. At the same time, the camera network is less restricted by the scene, which can improve the accuracy of positioning. In some examples, the declination information between the target object and the collection device may be the azimuth angle of the target object, so that the two interior angles of the triangle can be determined directly according to the declination information between the target object and the two collection devices, Further using the triangular positioning formula, the target object can be located according to the two interior angles of the triangle and the distance between the two acquisition devices.

In an example, the deviation angle information between the target object and the collection device may be the deviation angle between the direction of the target object and the collection device, so that the orientation information of each of the two collection devices can be obtained, and according to each The orientation information of each acquisition device and the declination information between the target object and each acquisition device determine the first interior angle and the second interior angle in the triangle, for example, according to the orientation information of each acquisition device and the target object and each The deflection angle information between the collection devices is used to determine the orientation information of the target object, and then the first interior angle and the second interior angle in the triangle are determined according to the orientation information of the target object relative to the two collection devices. Then according to the first inner angle, the second angle and the distance between the two acquisition devices, the position information of the target object can be obtained, for example, the first inner angle, the second angle and the distance between the two acquisition devices can be brought into the triangle The positioning formula can obtain the position information of the target object. The side where the first interior angle is located and the side where the second interior angle is located pass through the line connecting the two collection devices. In this way, fast and precise positioning of the target object can be achieved.

In some implementations, the acquisition device may be configured with a Global Navigation Satellite System (Global Navigation Satellite System, GNSS) and an electronic compass sensor, so that the acquisition device may have the ability to perceive its own position and orientation. The acquisition device can obtain high-precision geographic coordinates through the differential or static positioning algorithm of the global positioning system. In some implementation manners, after the collection device in the camera network is installed, the position of the collection device may not change any more, so that after the collection device is installed, the location information of the collection device may be saved in the collection device or in the in the service node.

In some implementation manners, the above location information may include latitude and longitude coordinates. Correspondingly, the longitude and latitude coordinates of the target object can be obtained through the declination information of the target object relative to the multiple collection devices and the longitude and latitude coordinates of the multiple collection devices. In this way, the positioning solution provided by the embodiment of the present application can obtain the precise geographic coordinates of the target object, so that the location information obtained by positioning can be unified, which is convenient for other devices to use, and reduces the difficulty of location sharing due to the inconsistency of the coordinate system of the location information. In this case, it reduces the need for coordinate system or location information conversion operations during location sharing, and improves the efficiency of location information sharing.

In the embodiment of this application, multiple acquisition devices in the camera network can identify the same target object, so as to realize target tracking and real-time positioning of the same target object. In some implementation manners, the service node may send the target feature to multiple acquisition devices in the camera network, so that the multiple acquisition devices determine the target object in the captured image according to the target feature. The target feature can indicate the target object. After multiple acquisition devices receive the target feature, they can match the target feature with the image features of multiple objects in the collected image and the target feature to determine the target object among the multiple objects, so that it can further target Target object for target tracking and positioning.

In some examples, the target feature may be a feature value of the target object. The service node can obtain the feature value of the target object from the feature database, wherein the feature value of the target object can be extracted by using a deep learning network. For example, the service node may obtain the target feature corresponding to the user instruction from the feature database according to the user instruction. For another example, the user can click on an image or an image area displayed on the display interface of the service node, and the service node can use the deep learning network to perform feature extraction on the image or image area clicked by the user to obtain the target feature . Alternatively, when the service node is used as the collection device, it may perform feature extraction on one or more objects appearing in the current collection screen to obtain target features.

In some implementations, after the above step S12, the track of the target object can also be marked on the electronic map according to the position information of the target object. The information is connected sequentially to obtain the trajectory of the target object. In some implementations, the trajectory of the target object can be marked with special colored markers, line segments, symbols, etc., so that the location or motion trajectory of the target object can be intuitively reflected on the electronic map for subsequent analysis by the user. In some implementations, the trajectory of the target object can also be integrated, that is, it can be understood as marking the historical trajectory and current trajectory of the target object on the electronic map, and the locations that the target user has passed many times can be highlighted by color Annotation, which can better facilitate user analysis.

Fig. 3 shows the flowchart 2 of the positioning method of the embodiment of the present application. As shown in Fig. 3, the positioning method is applied to the acquisition device in the camera network, including:

Step S21, acquiring the collected image.

In the embodiment of the present application, the camera network may include multiple acquisition devices. Each acquisition device can perform image acquisition for a scene in its field of view. The position of each collection device can be reasonably set according to actual application scenarios or requirements. For example, each collection device can be used as a vertex of a polygon, and multiple collection devices can form a polygon. Any two acquisition devices can communicate through wireless or wired network. In order to enable good communication between any two collection devices, multiple collection devices can also be arranged at equal intervals. Each acquisition device can take an object entering the field of view as a target object, and perform image acquisition on the target object to obtain an acquired image.

Step S22, based on the collected image, determine the relative positional relationship between the target object and the collection device.

In the embodiment of the present application, the acquisition device can perform target detection on the acquired image to obtain the image position of the target object in the acquired image, and then determine the relative positional relationship between the target object and the acquisition device according to the image position of the target object. In some implementations, the acquisition device can perform target detection on the captured image. For example, some target detection algorithms, such as YOLO, SSD, and other target detection algorithms, can be used to perform target detection on the captured image to obtain the image position of the target object in the captured image. . Then the relative positional relationship between the target object and the captured image can be determined based on the image position of the target object.

In some implementations, the relative positional relationship may include declination information. The deflection angle information is used to represent the deviation angle of the target object relative to the reference direction of the acquisition device. When determining the declination information between the target object and the acquisition device, the corresponding relationship between each pixel position in the acquired image and the offset angle of its own standard direction can be preset, and then according to the image position of the target object, determine The pixel position corresponding to the center point of the target object, and then according to the correspondence between each pixel position and the offset angle of its own standard direction, the offset angle corresponding to the pixel position corresponding to the center point of the target object can be determined, that is, The declination information of the target object.

In some implementation manners, the relative position relationship may also include distance information, and the acquired image may be a depth image. When determining the distance information between the target object and the acquisition device, the distance information between the target object and the acquisition device may be determined according to the image depth of the image position where the target object is located.

In some implementation manners, the collection device can be rotated within a certain angle range, that is, the orientation of the collection device can be changed within a certain angle range, so that the field of view of the image collection by the collection device can be increased. When the reference direction of the acquisition device is determined according to the orientation information of the acquisition device, the deviation angle information of the target object relative to the acquisition device may also be determined based on the image position of the target object and the orientation of the acquisition device. For example, an offset angle of each pixel position of the captured image relative to the central pixel position may be preset, wherein the central pixel position may correspond to a reference direction toward which the capturing device is oriented. Then determine the pixel position corresponding to the center point of the target object according to the image position of the target object, and then determine the pixel position corresponding to the center point of the target object relative to the center pixel position according to the offset angle of each pixel position relative to the center pixel position The offset angle of the target object can be obtained by adding the orientation of the acquisition device to the offset angle of the pixel position corresponding to the center point relative to the center pixel position. Wherein, the acquisition device may be configured with an electronic compass sensor, and may obtain its own orientation through the electronic compass sensor. In this way, the acquisition device can quickly and accurately determine the deflection angle information of the target object, and is suitable for application scenarios where the acquisition device can rotate by itself.

Step S23, sending the relative positional relationship between the target object and the collection device to the service node.

In the embodiment of the present application, after the acquisition device determines the relative positional relationship between the target object and the acquisition device, it may send the relative positional relationship between the target object and itself to the service node. The service node can receive the relative positional relationship sent by multiple collection devices, and further locate the target object according to the relative positional relationship between the target object and multiple collection devices, as well as the location information of multiple collection devices, and obtain the target object location information.

In the embodiment of the present application, the collection device of the camera network can be used to collect images of the target object to realize the positioning of the target object. The positioning method is simple and applicable to various application scenarios. For example, in relatively open scenes such as squares, parks, and classrooms, the geographic coordinates of the target object can be obtained in real time through a camera network, and marked on the electronic map in real time.

In some implementation manners, the collection device may also receive the target feature sent by the service node, and then determine the target object in the collected image according to the target feature. For example, the service node can send the target feature to multiple acquisition devices in the camera network through a wired or wireless network, and the acquisition device can match the target feature with the image feature of at least one object in the captured image to determine the target corresponding to the target feature object. Here, the service node may determine the target feature according to the captured images acquired by itself or user instructions. In this way, multiple acquisition devices can identify the same target object according to the target features issued by the service node, thereby realizing the tracking of the target object.

In some implementation manners, the collection device may also acquire annotation information input by the user, and then determine the target object in the collected image according to the annotation information. For example, the user may respectively input annotation information used to indicate the target object into at least two acquisition devices, and then the at least two acquisition devices may determine the target object indicated by the annotation information in the captured image according to the annotation information. The annotation information may include an image of the target object, image features, etc., and the collection device may match the collected image with the image included in the annotation information, or match the image features included in the annotation information with the image features of the collected image to determine the target object. In some examples, the acquisition device may also acquire the image or image area selected by the user in the display interface, and the image or image area selected by the user may be used as annotation information for indicating the target user. In this way, multiple acquisition devices can identify the same target object according to the labeling information input by the user, so as to realize the tracking of the target object.

It should be noted that the target object may appear in the field of view of some collection devices in the camera network, and this part of the collection devices can identify the target object in the collected images. However, some acquisition devices in the camera network may have no target object in the field of view of image acquisition due to reasons such as orientation or occlusion, so that the target object cannot be identified. For a collection device that does not have a target object in the field of view, it can continue to shoot the scene in the field of view, so as to obtain information in the scene in real time.

The following uses an example to illustrate the positioning solution provided by the embodiment of the present application. FIG. 4 shows a schematic diagram of camera network positioning according to an embodiment of the present application. As shown in Figure 4, in this example, a camera network can be set up in a square. The camera network can include 4 cameras (acquisition devices). Each camera can be configured with GNSS and electronic compass sensors, which can obtain its own geographic coordinates and orientation information. Among them, the geographic coordinates of camera 1 are (x1, y1), the geographic coordinates of camera 2 are (x2, y2), the geographic coordinates of camera 3 are (x3, y3), and the geographic coordinates of camera 4 are (x4, y4).

The service node of the camera network can deliver the characteristic value of the target object to the camera, and the cameras in the camera network can automatically identify and track the target object. Alternatively, at least two cameras in the camera network may receive identification information input by the user, and identify and track the target object according to the identification information input by the user. Camera 3 in the camera network cannot collect images of the target object due to occlusion. Camera 1, Camera 2, and Camera 4 in the camera network can collect images of the target object, determine the image position of the target object in the captured image, and then calculate the declination angle of the target object relative to the camera based on the image position of the target object information.

The service node obtains the declination information calculated by camera 1, camera 2 and camera 4 through the network, the geographic coordinates and orientation information of the cameras, and then can randomly select two cameras that can form a triangle with the target object, such as camera 1 and camera 2. According to the object azimuth a11 (declination information) of the target object relative to camera 1, the object azimuth a21 (declination information) of the target object relative to camera 2, and the geographic coordinates of camera 1 and camera 2, calculate the The location information, the longitude and latitude coordinates (x, y) of the target object can be obtained. Here, the reference direction of camera 1 can be due east, and the reference direction of camera 2 can be due west. In this way, the declination information obtained by camera 1 and camera 2 is the two interior angles of a triangle. According to the relationship of trigonometric functions, it can be calculated The location information of the target object. Further, the location information or moving track of the target object can be marked and displayed on the electronic map, as shown by the extended curve at the target object in the figure. The camera can be an edge node deployed on the edge of the square.

This example combines the usage scenarios of edge nodes to provide a positioning method based on multi-camera interconnection, which can obtain the geographic coordinates (latitude and longitude coordinates) of the target object, realize the unification of coordinates in geographic space, and facilitate the integration and processing of other devices or platforms. It is convenient to automatically mark the position on the electronic map. And the positioning method is simple, and can be applied to target positioning in different scenarios.

It can be understood that the above-mentioned method embodiments mentioned in this application can all be combined with each other to form a combined embodiment without violating the principle and logic. Those skilled in the art can understand that, in the above method in the actual implementation manner, the execution order of each step should be determined by its function and possible internal logic.

In addition, the embodiments of the present application also provide positioning devices, electronic equipment, computer-readable storage media, and programs, all of which can be used to implement any of the positioning methods provided in the embodiments of the present application. For the corresponding technical solutions and descriptions, refer to the method section. record accordingly.

Fig. 5 shows a block diagram 1 of a positioning device according to an embodiment of the present application. As shown in Fig. 5, the device includes:

The acquisition module 31 is configured to acquire the relative positional relationship between the target object and the plurality of acquisition devices respectively, and acquire the position information of the plurality of acquisition devices, wherein the plurality of acquisition devices are used for image acquisition of the target object ;

The positioning module 32 is configured to locate the target object according to the relative position relationship and the position information, and obtain the position information of the target object.

In one or more possible implementations, the device further includes:

In one or more possible implementations, the positioning module 32 is configured to select two collection devices among the plurality of collection devices, wherein the two collection devices form a triangle with the target object; according to The relative positional relationship between the target object and the two collection devices, and the position information of the two collection devices are used to locate the target object to obtain the position information of the target object.

In one or more possible implementations, the relative position relationship includes declination information, and the positioning module 32 is configured to determine the distance between the two collection devices according to the position information of the two collection devices. distance; according to the distance and the deviation angle information between the target object and the two acquisition devices, the position information of the target object is obtained, wherein the deviation angle information indicates that the target object is relative to the The deviation angle of the reference direction of the collection device.

In one or more possible implementations, the positioning module 32 is configured to obtain the orientation information of each of the two acquisition devices; according to the orientation information of each of the acquisition devices and the target object Declination information with each collection device, determine the first interior angle and the second interior angle in the triangle, wherein, the side where the first interior angle is located and the side where the second interior angle is located pass through the two The connection line of the collection device; according to the first interior angle, the second interior angle and the distance, the position information of the target object is obtained.

In one or more possible implementations, the acquiring module 31 is configured to acquire the captured images of the multiple capturing devices; determine the image position of the target object in the captured images of each capturing device; Based on the image position, a relative positional relationship between the target object and each acquisition device is acquired.

Fig. 6 shows a block diagram 2 of a positioning device according to an embodiment of the present application. As shown in Fig. 6, the device includes:

The acquisition module 41 is configured to acquire the collected image;

The determination module 42 is configured to determine the relative positional relationship between the target object and the acquisition device based on the acquired image;

The sending module 43 is configured to send the relative positional relationship between the target object and the collection device to a service node, wherein the service node is configured to relationship and the location information of the plurality of acquisition devices, locate the target object, and obtain the location information of the target object.

In one or more possible implementation manners, the relative position relationship includes declination information, and the determining module 42 is configured to perform target detection on the collected image to obtain the position of the target object in the collected image. image position: based on the image position of the target object, determine the deviation angle information between the target object and the acquisition device, wherein the deviation angle information represents the reference direction of the target object relative to the acquisition device angle of deviation.

In one or more possible implementations, the determining module 42 is further configured to receive the target feature sent by the service node; determine the target object in the collected image according to the target feature; or, obtain user input the annotation information; and determine the target object in the collected image according to the annotation information.

In some embodiments, the functions or modules included in the device provided in the embodiments of the present application can be used to execute the methods described in the above method embodiments, and the actual implementation can refer to the descriptions of the above method embodiments.

The embodiment of the present application also proposes a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is realized. The computer readable storage medium may be a non-transitory computer readable storage medium.

The embodiment of the present application also proposes an electronic device, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to invoke the instructions stored in the memory to execute the above method.

The embodiment of the present application also proposes a computer program, including computer readable codes, and when the computer readable codes are run in the electronic device, the processor in the electronic device executes and realizes the foregoing method.

The embodiment of the present application also provides a computer program product, including computer readable code, when the computer readable code is run on the device, the processor in the device executes instructions for implementing the positioning method provided in any of the above embodiments .

The embodiment of the present application also provides another computer program product, which is used to store computer-readable instructions. When the instructions are executed, the computer executes the operation of the positioning method provided in any of the above-mentioned embodiments.

Electronic devices may be provided as terminals, servers, or other forms of devices.

FIG. 7 shows a first block diagram of an electronic device according to an embodiment of the present application. For example, the electronic device 800 may be a terminal such as a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, or a personal digital assistant.

7, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power supply component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814 , and the communication component 816.

The processing component 802 generally controls the overall operations of the electronic device 800, such as those associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above method. Additionally, processing component 802 may include one or more modules that facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and 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 the like. The memory 804 can be implemented by any type of volatile or non-volatile storage device or their combination, 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 Disk.

The power supply component 806 provides power to various components of the electronic device 800 . 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 electronic device 800 .

The multimedia component 808 includes a screen providing an output interface between the electronic device 800 and the 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 input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may not only sense a boundary of a touch or swipe action, but also detect duration and pressure associated with the touch or swipe action. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have 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), which is configured to receive external audio signals when the electronic device 800 is in operation modes, such as call mode, recording mode and voice recognition mode. Received audio signals may be further stored in memory 804 or sent via communication component 816 . In some embodiments, the 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 a peripheral interface module, which may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: a home button, volume buttons, start button, and lock button.

Sensor assembly 814 includes one or more sensors for providing status assessments of various aspects of electronic device 800 . For example, the sensor component 814 can detect the open/closed state of the electronic device 800, the relative positioning of components, such as the display and the keypad of the electronic device 800, the sensor component 814 can also detect the electronic device 800 or a Changes in position of components, presence or absence of user contact with electronic device 800 , electronic device 800 orientation or acceleration/deceleration and temperature changes in electronic device 800 . Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. Sensor assembly 814 may also include an optical sensor, such as a complementary metal-oxide-semiconductor (CMOS) or charge-coupled device (CCD) image sensor, for use in imaging applications. In some embodiments, the sensor component 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 can access a wireless network based on a communication standard, such as a wireless network (WiFi), a second generation mobile communication technology (2G) or a third generation mobile communication technology (3G), or a combination thereof. In an exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wide Band (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, 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 A programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation for performing the methods described above.

In an exemplary embodiment, there is also provided a non-volatile computer-readable storage medium, such as the memory 804 including computer program instructions, which can be executed by the processor 820 of the electronic device 800 to implement the above method.

FIG. 8 shows a second block diagram of an electronic device according to an embodiment of the present application. For example, electronic device 1900 may be provided as a server. Referring to FIG. 8 , electronic device 1900 includes processing component 1922 , which further includes one or more processors, and a memory resource represented by memory 1932 for storing instructions executable by processing component 1922 , such as application programs. The application programs stored in memory 1932 may include one or more modules each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute instructions to perform the above method.

Electronic device 1900 may also include a power supply component 1926 configured to perform power management of electronic device 1900, a wired or wireless network interface 1950 configured to connect electronic device 1900 to a network, and an input-output (I/O) interface 1958 . The electronic device 1900 can operate based on the operating system stored in the memory 1932, such as the Microsoft server operating system (Windows ServerTM), the graphical user interface-based operating system (Mac OS XTM) introduced by Apple Inc., and the multi-user and multi-process computer operating system (UnixTM). ), a free and open source Unix-like operating system (LinuxTM), an open source Unix-like operating system (FreeBSDTM), or similar.

In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium, such as a memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the electronic device 1900 to implement the above-mentioned method.

Embodiments of the present application may be systems, methods and/or computer program products. A computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for causing a processor to implement various aspects of the embodiments of the present application.

A computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. A computer readable storage medium may be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More detailed examples (non-exhaustive list) of computer-readable storage media include: portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory), static random access memory (SRAM), compact disc read only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanically encoded device, such as a printer with instructions stored thereon A hole card or a raised structure in a groove, and any suitable combination of the above. As used herein, computer-readable storage media are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., pulses of light through fiber optic cables), or transmitted electrical signals.

Computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or downloaded to an external computer or external storage device over 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. A network adapter card or a 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 each computing/processing device .

Computer program instructions for performing the operations of the present application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or Source or object code written in any combination, including object-oriented programming languages—such as Smalltalk, C++, etc., and conventional procedural programming languages—such as the “C” language or similar programming languages. 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 implement. In cases involving a remote computer, the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as via the Internet using an Internet service provider). connect). In some embodiments, an electronic circuit, such as a programmable logic circuit, field programmable gate array (FPGA), or programmable logic array (PLA), can be customized by utilizing state information of computer-readable program instructions, which can Various aspects of the present application are implemented by executing computer readable program instructions.

Aspects of the present application 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 application. It should be understood that each block of the flowcharts and/or block diagrams, and combinations of blocks in the flowcharts 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 when executed by the processor of the computer or other programmable data processing apparatus , producing an apparatus for realizing the functions/actions specified in one or more blocks in the flowchart and/or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause computers, programmable data processing devices and/or other devices to work in a specific way, so that the computer-readable medium storing instructions includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks in flowcharts and/or block diagrams.

It is also possible to load computer-readable program instructions into a computer, other programmable data processing device, or other equipment, so that a series of operational steps are performed on the computer, other programmable data processing device, or other equipment to produce a computer-implemented process , so that instructions executed on computers, other programmable data processing devices, or other devices implement the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.

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 application. In this regard, each block in a flowchart or block diagram may represent a module, a portion of a program segment, or an instruction that includes one or more Executable instructions. In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions.

The computer program product can be realized by hardware, software or a combination thereof. In an optional embodiment, the computer program product may be embodied as a computer storage medium, and in another optional embodiment, the computer program product may be embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc. Wait.

Having described various embodiments of the present application above, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations 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 to best explain the principle of each embodiment, practical application or improvement of technology in the market, or to enable other ordinary skilled in the art to understand each embodiment disclosed herein.

Industrial Applicability

Embodiments of the present application provide a positioning method and device, electronic equipment, storage media, and computer programs. The method includes: acquiring the relative positional relationship between a target object and a plurality of acquisition devices, and acquiring the relative positional relationship between the plurality of acquisition devices. The location information of the device, wherein the plurality of collection devices are used to collect images of the target object; according to the relative position relationship and the location information, the target object is positioned to obtain the location information of the target object . In this way, the positioning of the target object can be realized through the camera network formed by multiple acquisition devices, and the accuracy of positioning can be improved.

Claims

A positioning method, which is applied to a service node, includes:

Acquiring the relative positional relationship between the target object and a plurality of acquisition devices respectively, and acquiring position information of the plurality of acquisition devices, wherein the plurality of acquisition devices are used for image acquisition of the target object;

Positioning the target object according to the relative position relationship and the position information to obtain position information of the target object.
The method according to claim 1, wherein the method further comprises:

Sending target features to the multiple acquisition devices in the camera network, so that the multiple acquisition devices determine the target object in the captured image according to the target features.
The method according to claim 1 or 2, wherein the positioning of the target object according to the relative position relationship and the position information to obtain the position information of the target object comprises:

Selecting two collection devices among the plurality of collection devices, wherein the two collection devices form a triangle with the target object;

According to the relative positional relationship between the target object and the two collection devices, and the position information of the two collection devices, the target object is positioned to obtain the position information of the target object.
The method according to claim 3, wherein the relative positional relationship includes declination information, and the relative positional relationship between the target object and the two acquisition devices, and the relative positional relationship between the two acquisition devices Location information, positioning the target object to obtain the location information of the target object, including:

determining the distance between the two collection devices according to the position information of the two collection devices;

According to the distance and the deviation angle information between the target object and the two acquisition devices, the position information of the target object is obtained, wherein the deviation angle information indicates that the target object is relative to the acquisition devices The angle of deviation from the reference direction.
The method according to claim 4, wherein said obtaining the position information of the target object according to the distance and the declination information between the target object and the two collection devices comprises:

Obtain the orientation information of each of the two collection devices;

According to the orientation information of each collection device and the declination information between the target object and each collection device, determine a first interior angle and a second interior angle in the triangle, where the first interior angle is located One side and the side where the second inner angle is located pass through the line connecting the two collection devices;

According to the first interior angle, the second interior angle and the distance, the position information of the target object is obtained.
The method according to any one of claims 1 to 5, wherein the method further comprises:

According to the location information of the target object, the track of the target object is marked on the electronic map.
The method according to any one of claims 1 to 6, wherein said acquiring the relative positional relationship between the target object and a plurality of acquisition devices respectively comprises:

acquiring images collected by the plurality of collection devices;

determining the image position of the target object in the captured image of each capturing device;

Based on the image position, a relative positional relationship between the target object and each acquisition device is acquired.
The method according to any one of claims 1 to 7, wherein the location information includes latitude and longitude coordinates; the service node is a control device of a camera network, or the service node is a device in the camera network any collection device.
A positioning method, which is applied to a collection device, comprising:

Get the captured image;

determining a relative positional relationship between the target object and the acquisition device based on the acquired image;

sending the relative positional relationship between the target object and the collection device to a service node, wherein the service node is configured to use the relative positional relationship between the target object and multiple collection devices and the Collecting the location information of the device, locating the target object, and obtaining the location information of the target object.
The method according to claim 9, wherein the relative positional relationship includes declination information, and determining the relative positional relationship between the target object and the acquisition device based on the acquired image comprises:

performing target detection on the collected image to obtain the image position of the target object in the collected image;

Determining deviation angle information between the target object and the acquisition device based on the image position of the target object, wherein the deviation angle information represents a deviation angle of the target object relative to a reference direction of the acquisition device .
The method according to claim 9 or 10, wherein the method further comprises:

receiving the target feature sent by the service node; determining the target object in the collected image according to the target feature;

or,

Acquiring annotation information input by a user; determining the target object in the collected image according to the annotation information.
A positioning device, including:

The acquisition module is configured to acquire the relative positional relationship between the target object and the plurality of acquisition devices respectively, and acquire the position information of the plurality of acquisition devices, wherein the plurality of acquisition devices are used for image acquisition of the target object;

The positioning module is configured to locate the target object according to the relative position relationship and the position information, and obtain the position information of the target object.
A positioning device, including:

The collection module is configured to obtain the collection image;

A determination module configured to determine the relative positional relationship between the target object and the acquisition device based on the acquired image;

The sending module is configured to send the relative positional relationship between the target object and the collection device to a service node, wherein the service node is configured to use the relative positional relationship between the target object and multiple collection devices and the position information of the plurality of acquisition devices, locate the target object, and obtain the position information of the target object.
An electronic device, comprising:

processor;

memory for storing processor-executable instructions;

Wherein, the processor is configured to call the instructions stored in the memory to perform the method described in any one of claims 1 to 8, or to perform the method described in any one of claims 9 to 11 .
A computer-readable storage medium, on which computer program instructions are stored, wherein, when the computer program instructions are executed by a processor, the method according to any one of claims 1 to 8 is realized, or the method according to any one of claims 9 to 8 is realized. The method described in any one of 11.
A computer program, including computer readable code, when the computer readable code is run in the electronic device, the processor in the electronic device executes to implement the program described in any one of claims 1 to 8 described method, or, realize the method as described in any one in the claim 9 to 11.