CN106767850A - A kind of passenger's localization method and system based on scene picture - Google Patents
A kind of passenger's localization method and system based on scene picture Download PDFInfo
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- CN106767850A CN106767850A CN201610988323.5A CN201610988323A CN106767850A CN 106767850 A CN106767850 A CN 106767850A CN 201610988323 A CN201610988323 A CN 201610988323A CN 106767850 A CN106767850 A CN 106767850A
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- 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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
A kind of passenger's localization method based on scene picture, including step：Obtain the rough position of user；Select location in first preset range is obtained according to the rough position, the corresponding first scene picture of each select location is obtained；User shoots the second scene picture being currently seen；Similarity comparison according to the first scene picture and the second scene picture obtains the current location of user；The first scene picture is the panoramic pictures of bat of being rotated a circle in each select location.Can allow and meet passenger driver and can obtain the more accurate position of passenger, and then avoid the problem that detours because caused by position error, save the stand-by period of passenger and driver.Meanwhile, the present invention provides a kind of passenger's alignment system based on scene picture.
Description
Technical field
The present invention relates to a kind of field of urban traffic, more particularly to a kind of passenger's localization method based on scene picture and it is
System.
Background technology
Taxi-hailing software changes tradition and calls a taxi mode, sets up and turn out the user that the big mobile Internet epoch lead modern
Dissolve line mode.For recruiting car and roadside to pick up than black phone, the birth of taxi-hailing software is even more and changes tradition and call a taxi city
Field general layout, has overturned roadside pushing-off the wagons concept, using mobile Internet feature, will be blended with line on line, from initial rank of calling a taxi
Section changes the objective mode such as traditional taxi driver to getting off using fare is paid on line, allow driver according to the destination of the passenger at will
" order ", saves driver and links up cost with passenger, reduces rate of empty ride, maximizes saving department and multiplies both sides' resource and time.
However, after passenger sends order, how driver quickly welcomes the emperor brings very big challenge.At present, according to intelligence
The driver that can navigate can quickly know the Position Approximate of passenger, but the position is accurate not enough.For example, passenger is on strange ground
Side does not know how when calling a taxi to describe the particular location of oneself, and now he is on the left side of a street, due to the mistake of satellite fix
Difference is typically all to cause the right in sometimes position of the passenger on map Shi streets in fact in 10 meters.This when is often
Driver is needed around one section of long road.Therefore the simple address driver after only being positioned with is difficult to find passenger.At some
In the case of, or even produce the distance of driver and passenger close but be exactly that can not find other side mutually.Even if after driver's phone confirmation
Passenger may not be accurately found, can just be found around individual great circle so as to destination may be enclosed after causing driver to arrive at
Passenger.For more preferable raising efficiency, how fast accurate is welcomed the emperor then turn into letter problem to be solved.
The content of the invention
Based on above-mentioned situation, the present invention proposes a kind of passenger's localization method based on scene picture, in the server in advance
Multigroup first scene picture is deposited, the first scene picture rotates a circle the panoramic pictures of bat for select location, using user couple
The scene picture and the picture and the first scene picture of upload shot in current location carry out similarity comparison；Use can just be obtained
Family more accurate coordinate, and then obtain user current location.
The present invention proposes a kind of passenger's localization method based on scene picture, including step：Obtain the rough position of user
Put；Select location in first preset range is obtained according to the rough position, each select location is obtained corresponding first
Scape picture；User shoots the second scene picture for being currently seen and uploads onto the server；According to the first scene picture and institute
The similarity comparison of the second scene picture is stated to obtain the optimal boarding position of user；The first scene picture is in each choosing
Positioning puts the panoramic pictures of the bat that rotates a circle.
Second scene picture is used two or more captured by different shooting angles as user in current location
Picture is constituted；The different shooting angles at least include the first shooting angle and the second shooting angle.
The similarity comparison of the first scene picture and the second scene picture obtains the optimal boarding position of user
Method includes：Compared by the first scene picture and the similarity of the second scene picture and obtain the first shooting angle picture
First shooting direction；The second shooting angle figure of acquisition is compared by the first scene picture and the similarity of the second scene picture
Second shooting direction of piece；Intersection point according to first shooting direction and second shooting direction determines user's present bit
Put.
User's upload third shot takes the photograph the picture captured by angle and obtains third shot and takes the photograph direction；Judge the first shooting direction,
Second shooting direction and third shot take the photograph whether direction intersects at a point, if；Using the point as user's changing coordinates；If it is not, then
The joining two-by-two that first shooting direction, the second shooting direction and third shot take the photograph direction can form triangle, by the triangle
Center of gravity is used as user's changing coordinates.
Obtain the Business Information in second preset range in user final position；The business is implanted into the scene picture
The relevant advertisements of family's information.
Present invention also offers a kind of passenger's alignment system based on scene picture, including customer location acquisition module, field
Scape pictorial information acquisition module, scene picture message processing module, modules network connection；Customer location acquisition module is used for
Obtain the rough position of user；Scene picture data obtaining module is used to obtain the selected position in preset range according to rough position
Put, obtain the corresponding first scene picture of each select location；Scene picture message processing module is used for what is shot according to user
The contrast of the second scene picture and the first scene picture obtains the current location of user；Here the first scene picture is each
Individual select location rotates a circle the panoramic pictures of bat.
Compared to prior art, the present invention is simple to operate, by the rough position for obtaining user；To show each to user
The corresponding first scene picture of select location；User shoots the second scene picture for being currently seen and uploads onto the server；According to
The contrast of the first scene picture and the second scene picture obtains the current location of user.So, can allow connect and multiply
Objective driver can obtain the more accurate position of passenger, and then avoid the problem that detours because caused by position error, save passenger
And the stand-by period of driver.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet of passenger's localization method embodiment based on scene picture of the invention；
Fig. 2 is the schematic diagram for obtaining optimal boarding position embodiment of the method for the invention；
Fig. 3 is a kind of structural representation of passenger's alignment system embodiment based on scene picture of the invention.
Specific embodiment
The present invention program is described in detail below in conjunction with better embodiment therein.
As shown in figure 1, the method in the present embodiment includes step：
S101：Obtain the rough position of user.
User opens taxi-hailing software, and taxi-hailing software is according to alignment system（GPS, the Big Dipper）The rough position of user is obtained, and
Corresponding address name can be automatically generated, because the signified scope of address name may very big (such as certain bus stop
Title, do not know when most of be bus stop which side), this result in driver be possible to when passenger is picked around
Far road.After the current rough position of user is obtained, system just obtains the select location in preset range, and these are selected
Position is usually by passenger's empirical value that repeatedly rear system draws by bus.In most cases, passenger is unlikely very
Get off thereon location name and its scene picture to be seen are familiar with, even if this results in user knows optimal Entrucking Point
After title, the destination still cannot be accurately arrived at.It could also be possible that user sees corresponding scene, phase cannot be but obtained
The location name answered.
Select location in first preset range is obtained according to the rough position, each select location corresponding the is obtained
One scene picture.
After system obtains the select location in the first preset range, user can just see the phase of respective stretch on map
Answer location name.In general, by the way that after GPS location, system can all provide several positions around its position location, as
Select location（Or recommend boarding position）.Select location in system can preset correspondence scene picture.So, acquisition is worked as
During to select location, it can just obtain the corresponding scene picture of each select location, and be shown to user and selected.Here
Scene picture by select location using for each select location rotate a circle bat panoramic pictures (can also with rotation compared with
Small angle is substituted one week, because some local marks are not obvious).Select location is coming in the range of one place
Upload panoramic pictures position, due to select location rotate a circle the panoramic pictures of take scenery according to distance and light photograph
The effect for penetrating the issuable panoramic pictures of change of situation can be very different.Thus, the quantity of select location is as more as possible,
Different panoramic pictures are also set on a time period simultaneously.Can so reduce because select location and physical location distance increase and
Time change and the not good problem of matching effect that produces.In addition, panoramic pictures can be showed when display or mobile phone show
It is a rectangular image, and rectangular length is divided by 360, it is possible to obtain the corresponding part picture of each angle.Will be each
The corresponding scene picture of individual select location（As the first scene picture）On uploading onto the server, the figure uploaded to it is needed exist for
Piece carries out angle mark（That is how much which position correspondence of picture is spent）.
S103：User shoots the second scene picture for being currently seen, according to the first scene picture and described second
The contrast of scape picture obtains the current location of user.
Prestore many local scene pictures in the server, by the current coarse position information of user, obtains user
Rough position preset range in（As in the range of 100 meters）The some groups of locations that prestore the first scene picture.User can
To shoot current the second scene picture oneself seen and upload onto the server（Here the first scene picture can also be downloaded to
Mobile phone the inside, need not so upload onto the server）, compared with the second scene picture system by the first scene picture, so that it may
The select location current substantially to know user.Simply local in some traffic environments, a scene picture can be to compare
Clearly user is positioned, also the part picture of the first scene picture and the second scene picture contrast
Similarity reaches more than 99%, may determine that user current location almost overlaps with system select location this when.But more
Under complicated traffic environment, the locating effect of a pictures can be weakened severely.
Used as more preferable examples of implementation, the second scene picture is to use the scene picture of different angle shots herein.Due to
There is certain error in satellite fix precision, major part mobile phone positioning can only navigate to a street at present, as in street
Which side is difficult to be accurately positioned out, and which increase cabdriver picks difficulty；And use the second of different angle shots
Scene picture, and compared with the first scene picture for prestoring, can relatively accurately know the position of user, solve conventional satellite
The inconvenient problem that positioning belt comes.In general, compared by the first scene picture and shooting angle picture can be obtained by
The shooting direction of picture, camera is shooting direction with the line direction of object of reference（Camera to object of reference is seen as from plane
Direction）.
The method that user current location is obtained using scene picture, including：Obtain the first count of the first shooting angle picture
(the first shooting direction can also the more first shooting direction line to take the photograph direction；Other directions can also be by that analogy), then obtain
Second shooting direction of two shooting angle pictures；Intersection point according to the first shooting direction and the second shooting direction determines user's
Current location.Because the distance of position is not far, scene picture and the scene captured by user current location of select location shooting
Pictures location similarity can be very high, thus is assured that user according to the intersection point of the first shooting direction and the second shooting direction
Current location（The number of select location is more, and the precision of its current location is more accurate）.Simultaneously also dependent on being currently located
The nearest select location in position, optimal boarding position can be just readily available from select location.Here the first shooting angle
Picture and the second shooting angle picture are the second scene picture for uploading.
As shown in Fig. 2 the lower section in first user Jia streets, the opposing party in second user Yi streets；First is by shooting
Object of reference A, object of reference B, object of reference C are simultaneously uploaded onto the server (if being stored in mobile terminal can also use offline contrast
Mode), by the comparison of system, it is possible to obtain the first shooting direction during object of reference A respectively（First points to the side of object of reference A
To the present embodiment shows direction in the form of straight line, by that analogy）, shoot object of reference B when the second shooting direction, pass through
The intersection point of all directions（That is the intersection point of the reverse extending line of filming direction）It is assured that the current location of first.Similarly, second
Current location can also be obtained by this way, be assured that the present bit of first by there is both direction in theory herein
Put.And the third shot of acquisition when shooting object of reference C takes the photograph direction and can be used for calibration.The third shot takes the photograph direction can be by subscriber station
Photographs reference substance C and acquisition of uploading onto the server in current location.The method that direction calibration calibrated is taken the photograph with third shot is：
Judge that the first shooting direction, the second shooting direction and third shot take the photograph whether direction intersects at a point, if；Using the point as current
The accurate coordinates of first (or second).If it is not, then the joining two-by-two of the first shooting direction, the second shooting direction and third method can shape
Triangularity, by the barycenter oftriangle, (according to actual conditions, center of gravity herein can also be replaced by circumcentre of a triangle, interior
The heart, orthocenter or escenter) as when the coordinate of proostracum (or second).In the case where there is triangle, show user current location with
There is deviation the camera site for being pre-stored in server before, after user have selected the scene picture that prestores, may certify that its position from
The accurate coordinates for prestoring in systems are relatively close to, and by taking barycenter oftriangle, can cause user's actual coordinate with it is pre-
The accurate coordinates deposited in systems carry out an associative operation, and then cause the coordinate after calibration closer to true coordinate.Pass through
It is such to be more precisely located, can cause that the taxi time, can be quickly after the coarse position information for receiving passenger
Passenger is known specifically on which side in street, and then saves the time for finding passenger.
As shown in figure 3, first is in select location and uses the first scene picture（The nearer place near select location of first is all
Same first scene picture can be selected）, the first shooting angle picture and the second shooting angle picture after first shooting are uploaded
To server.System is compared according to the first scene picture with the similarity of the first shooting angle picture, can both compare out its bat
The position taken the photograph can converse the first shooting direction in the position of the first scene picture；Similarly, system is according to the first scene
Picture is compared with the similarity of the second shooting angle picture, it is possible to converse the second shooting direction.First scene picture correspondence
Panoramic pictures when display or mobile phone show, show as a rectangular image, and rectangular length divided by 360,
The corresponding part picture of each angle；And the capture apparatus that user uses also have corresponding camera lens visual angle（Such as 150 °）；First count
Take the photograph after angle picture shooting and be also grown up square, and rectangular length can obtain the corresponding part figure of each angle divided by 150
Piece；So, 1 ° extracted in the first shooting angle picture is compared with 1 ° in the first scene picture, you can comparatively fast determine it
Similarity；Used as inspection, the picture and the first scene picture for repeatedly collecting the first shooting angle picture are compared, and finally then
The correspondence direction that 75 ° of this intermediate values of the first shooting angle picture are used as the first shooting angle direction is taken, 1 ° of number is only taken
According to.Because the whole picture for shooting is a parallel surface, the direction of each point therein is parallel, and intersecting point
Then it is that two parallel surfaces intersect shown in plane, and from graphics.
In order that obtaining user, taxi taking platform and businessman obtains preferably economic benefit.User is obtained using such scheme
When taking location information, can be using advertisement mode and without two kinds of advertisement mode.Under advertisement mode, the rough position of user is obtained
Business Information in (or final position) second preset range；When user uploads the second scene picture to server, show institute
The advertisement of Business Information is stated to user.Meanwhile, user can be then allowed to user to current location in the advertisement of displaying corresponding merchant
Businessman around (or final position) has and further understands, and has reached the purpose of accurate advertisement.User final position, is user
The information when starting point and terminal that are input into when calling a taxi, user goes to destination, usually can thereat do shopping or do corresponding
Business；There is the advertisement of corresponding businessman this when, user can be helped to be better understood by the certain situation of destination,
Time span according to advertisement is used reducing the corresponding riding fee of user（I.e. the riding fee of time spot reduction more long is more
It is many）, while can also be according to the frequent degree of advertisement putting to the corresponding expense of advertiser（I.e. advertisement putting it is more frequent to
The expense of advertiser is more）.User can subtract least a portion of riding fee and use in such a mode, and advertiser can also be carried out
Appropriate advertisement putting, and taxi taking platform can increase the income of advertisement, user is carried out higher preferential and then improve user
Use the viscosity of the software.
A kind of structural representation of passenger's alignment system embodiment based on scene picture of the invention is shown in Fig. 4.
A kind of passenger's alignment system based on scene picture, including：Customer location acquisition module, scene picture acquisition of information
Module, scene picture message processing module, modules network connection；Customer location acquisition module is used to obtain the rough of user
Position；Scene picture data obtaining module is used to obtain the select location in preset range according to rough position, obtains each choosing
Positioning puts corresponding first scene picture；Scene picture message processing module be used for according to user shoot the second scene picture with
The contrast of the first scene picture obtains the current location of user；Here the first scene picture is in the rotation of each select location
The panoramic pictures clapped for one week.
Prestore many local scene pictures in the server, by the current coarse position information of user, obtains user
Rough position preset range in（As in the range of 100 meters）The some groups of locations that prestore the first scene picture.User can
To shoot current the second scene picture oneself seen and upload onto the server, by the first scene picture and the second scene picture
System is compared,
Just can substantially know the current select location of user.Simply local in some traffic environments, a scene picture is
More clearly user can be positioned, be also exactly the part picture and second scene graph of the first scene picture
The similarity of piece contrast reaches more than 99%, may determine that user current location almost overlaps with system select location this when.
But under complex traffic environment, the locating effect of a pictures can be weakened severely.
Used as more preferable examples of implementation, the second scene picture is to use the scene picture of different angle shots herein.Due to
There is certain error in satellite fix precision, major part mobile phone positioning can only navigate to a street at present, as in street
Which side is difficult to be accurately positioned out, and which increase cabdriver picks difficulty；And use the second of different angle shots
Scene picture, and compared with the first scene picture for prestoring, can relatively accurately know the position of user, solve conventional satellite
The inconvenient problem that positioning belt comes.In general, compared by the first scene picture and shooting angle picture can be obtained by
The shooting direction of picture, camera is shooting direction with the line direction of object of reference（Camera to object of reference is seen as from plane
Direction）.
Wherein, the method that user current location is obtained using scene picture, including：Obtain the of the first shooting angle picture
(the first shooting direction can also the more first shooting direction line for one shooting direction；Other directions can also be by that analogy), then obtain
Take the second shooting direction of the second shooting angle picture；Intersection point according to the first shooting direction and the second shooting direction determines to use
The current location at family.Because the distance of position is not far, captured by the scene picture and user current location of select location shooting
Scene picture location similarity can be very high, thus is assured that according to the intersection point of the first shooting direction and the second shooting direction
The current location of user（The number of select location is more, and the precision of its current location is more accurate）.Simultaneously also dependent on current
The nearest select location in position, optimal boarding position can be just readily available from select location.
As more preferable examples of implementation, the system also include one positioning calibration module, for according to subscriber station in present bit
The third shot for putting upload takes the photograph angle picture and obtains third shot and takes the photograph direction, then judges the first shooting direction, the second shooting direction and the
Whether three shooting direction intersect at a point, if；Using the point as when the accurate coordinates of proostracum (or second).If it is not, then first count
Taking the photograph direction, the second shooting direction and third shot and take the photograph the joining two-by-two in direction can form triangle, by the barycenter oftriangle (root
According to actual conditions, center of gravity herein can also be replaced by circumcentre of a triangle, heart, orthocenter or escenter) as when proostracum (or
Second) coordinate.
In order that obtaining user, taxi taking platform and businessman obtains preferably economic benefit.The system also includes an advertisement module,
Rough position for obtaining user（Final position）Business Information in second preset range；The second scene graph is uploaded in user
When piece is to server, show the advertisement of the Business Information to user.When user uploads the second scene picture to server, exhibition
Show the advertisement of the Business Information to user.Meanwhile, user can be then allowed to user to current in the advertisement of displaying corresponding merchant
Businessman around position (or final position) has and further understands, and has reached the purpose of accurate advertisement.User final position, be
The information when starting point and terminal that are input into when user calls a taxi, user goes to destination, usually can thereat do shopping or do
Corresponding business；There is the advertisement of corresponding businessman this when, user can be helped to be better understood by the certain situation of destination.With
Family can subtract least a portion of riding fee and use in such a mode, and advertiser can carry out appropriate advertisement putting, and taxi taking platform
The income of advertisement can be increased, user is carried out higher preferential and then improved the viscosity that user uses the software.Go up herein
The time of blit piece can also be directly proportional to the time spot, and the time of the bigger upload of picture file is more, and its advertisement is preferential also
Can be bigger.
Embodiment described above only expresses embodiments of the present invention, and its description is more specific and detailed, but can not
Therefore it is interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
Enclose.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of passenger's localization method based on scene picture, it is characterised in that including step：Obtain the rough position of user；
Select location in first preset range is obtained according to the rough position, corresponding first scene graph of each select location is obtained
Piece；User shoots the second scene picture being currently seen；According to the first scene picture and the phase of the second scene picture
The current location of user is obtained like degree contrast；The first scene picture is the panorama of bat of being rotated a circle in each select location
Picture.
2. passenger's localization method according to claim 1, it is characterised in that the second scene picture is by user current
Position is constituted using the two or more pictures captured by different shooting angles；The different shooting angles at least include
First shooting angle and the second shooting angle.
3. passenger's localization method according to claim 2, it is characterised in that the first scene picture and described second
The similarity comparison of scape picture includes obtaining the method for the current location of user：By the first scene picture with described second
The similarity of scape picture compares the first shooting direction for obtaining the first shooting angle picture；By the first scene picture and described
The similarity of two scene pictures compares the second shooting direction for obtaining the second shooting angle picture；According to first shooting direction
And the intersection point of second shooting direction determines user current location.
4. passenger's localization method according to claim 3, it is characterised in that user uploads third shot and takes the photograph captured by angle
Picture simultaneously obtains third shot and takes the photograph direction；Judge that the first shooting direction, the second shooting direction and third shot take the photograph whether direction intersects at
A bit, if；Using the point as user's changing coordinates；If it is not, then the first shooting direction, the second shooting direction and the third shot side of taking the photograph
To joining two-by-two can form triangle, using the barycenter oftriangle as user's changing coordinates.
5. the passenger's localization method according to claim any one of 1-4, it is characterised in that obtain the of the rough position
Business Information in two preset ranges；When user uploads the second scene picture to server, show the wide of the Business Information
Accuse to user.
6. a kind of passenger's alignment system based on scene picture, it is characterised in that including customer location acquisition module, scene picture
Data obtaining module, scene picture message processing module, modules network connection；The customer location acquisition module is used to obtain
Take the rough position at family；The scene picture data obtaining module is used to obtain the first preset range according to the rough position
Interior select location, obtains the corresponding first scene picture of each select location；The scene picture message processing module is used for
The the second scene picture for being shot according to user and being uploaded obtains the current of user with the first scene picture similarity comparison
Position；The first scene picture is the panoramic pictures of bat of being rotated a circle in each select location.
7. passenger's alignment system according to claim 6, it is characterised in that the second scene picture is by user current
Position is constituted using the two or more pictures captured by different shooting angles；The different shooting angles at least include
First shooting angle and the second shooting angle.
8. passenger's alignment system according to claim 7, it is characterised in that the first scene picture and described second
The similarity comparison of scape picture includes obtaining the method for the optimal boarding position of user：By the first scene picture and described
The similarity of two scene pictures compares the first shooting direction for obtaining the first shooting angle picture；By the first scene picture and institute
The similarity for stating the second scene picture compares the second shooting direction for obtaining the second shooting angle picture；Shot according to described first
The intersection point of direction and second shooting direction determines user current location.
9. passenger's alignment system according to claim 8, it is characterised in that also including a positioning calibration module, for root
Take the photograph angle picture and obtain third shot in the third shot that current location uploads according to subscriber station and take the photograph direction, then judge the first shooting direction,
Second shooting direction and third shot take the photograph whether direction intersects at a point, if；Using the point as user's changing coordinates；If it is not, then
The joining two-by-two that first shooting direction, the second shooting direction and third shot take the photograph direction can form triangle, by the triangle
Center of gravity is used as user's changing coordinates.
10. the passenger's alignment system according to claim any one of 6-9, it is characterised in that also including an advertisement module, uses
Business Information in the second preset range for obtaining the rough position；The second scene picture to server is uploaded in user
When, show the advertisement of the Business Information to user.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610988323.5A CN106767850B (en) | 2016-11-10 | 2016-11-10 | Passenger positioning method and system based on scene picture |
| PCT/CN2016/112020 WO2018086206A1 (en) | 2016-11-10 | 2016-12-26 | Scene image-based passenger positioning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610988323.5A CN106767850B (en) | 2016-11-10 | 2016-11-10 | Passenger positioning method and system based on scene picture |
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| CN106767850A true CN106767850A (en) | 2017-05-31 |
| CN106767850B CN106767850B (en) | 2022-12-30 |
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| CN201610988323.5A Active CN106767850B (en) | 2016-11-10 | 2016-11-10 | Passenger positioning method and system based on scene picture |
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| CN108009588A (en) * | 2017-12-01 | 2018-05-08 | 深圳市智能现实科技有限公司 | Localization method and device, mobile terminal |
| CN110087187A (en) * | 2019-04-23 | 2019-08-02 | 北京三快在线科技有限公司 | A kind of business execution method and device |
| CN110163908A (en) * | 2018-02-12 | 2019-08-23 | 北京宝沃汽车有限公司 | Look for the method, apparatus and storage medium of object |
| WO2019174600A1 (en) * | 2018-03-16 | 2019-09-19 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for reward administering in an on-line service |
| CN112651806A (en) * | 2020-12-30 | 2021-04-13 | 北京瞰瞰科技有限公司 | Method for quickly finding passenger |
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| CN106767850B (en) | 2022-12-30 |
| WO2018086206A1 (en) | 2018-05-17 |
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