CN107885763A - The update method of interest point information, device and computer-readable medium in indoor figure - Google Patents

The update method of interest point information, device and computer-readable medium in indoor figure Download PDF

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Publication number
CN107885763A
CN107885763A CN201710854156.XA CN201710854156A CN107885763A CN 107885763 A CN107885763 A CN 107885763A CN 201710854156 A CN201710854156 A CN 201710854156A CN 107885763 A CN107885763 A CN 107885763A
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point
interest
photo
indoor
tango
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CN107885763B (en
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卢志泳
贾海禄
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Baidu Online Network Technology Beijing Co Ltd
Beijing Baidu Netcom Science and Technology Co Ltd
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Beijing Baidu Netcom Science and Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/95—Retrieval from the web
    • G06F16/953—Querying, e.g. by the use of web search engines
    • G06F16/9537—Spatial or temporal dependent retrieval, e.g. spatiotemporal queries
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/904—Browsing; Visualisation therefor

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  • Engineering & Computer Science (AREA)
  • Databases & Information Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Instructional Devices (AREA)
  • Processing Or Creating Images (AREA)

Abstract

The present invention provides update method, device and the computer-readable medium of interest point information in a kind of indoor figure.Its method includes：Gather the POI of Indoor environment photo；POI photo includes POI title；Picture recognition is carried out to POI photo, obtains POI title；Obtain the camera lens direction of the geographical coordinate of the location point of collection POI photo and collection POI photo；According to the camera lens direction of the geographical coordinate of the location point of shooting POI photo and shooting POI photo, the graphical information that POI title is updated to corresponding POI in the indoor figure with building is bound, during make it that the figure of the POI in indoor figure is shown, the mounting display POI title on figure.Technical scheme, overcome manual type in the prior art update POI in indoor figure renewal efficiency it is low the defects of, automatically the POI in indoor figure can be updated, the renewal efficiency of the POI in indoor figure can be effectively improved.

Description

The update method of interest point information, device and computer-readable medium in indoor figure
【Technical field】
The present invention relates to a kind of renewal side of interest point information in Computer Applied Technology field, more particularly to indoor figure Method, device and computer-readable medium.
【Background technology】
As the indoor map combining of the building of map products is more and more, in order to more efficiently into user's showroom Each point of interest (Point Of Interest in figure；POI), the display on each POI figure is also needed in indoor figure should POI title, more truly to reflect the distribution of each POI in the Indoor environment of reality.
The collection of the POI in indoor figure includes the collection of POI graphical information and each figure pair in the prior art The collection of the POI answered title.Wherein POI graphical information can include building interior in POI shops shape, with And the geographical coordinate on border etc., the size and shape in the POI shops in figure indoors can be determined according to POI graphical information Etc., i.e., POI graphical information is determined by POI actual geographical position and building structure.Even if businessman's hair in the POI shops Raw transfer, if POI building structure does not change, corresponding POI graphical information does not change.So room is gathered , can be to show each POI distributed architecture in figure indoors accordingly after the graphical information of each POI in interior figure.Then may be used Further to gather POI title, with the title of POI corresponding to the display on each POI figure, POI title actually refers to Be the POI operator trade name.In practical application, the graphical information of the POI in indoor figure is usually fixed not Become, and POI title due to operator by can be changed to change.In the prior art, the collection of POI titles is usual The collection of shop region corresponding to indoor figure POI title is directly arrived by collector, then corresponding POI in figure indoors Text marking is carried out on figure.
Based on described above, if not identifying certain POI title in indoor figure, or when POI title changes, use Above-mentioned existing artificial collection POI title and the technical scheme for the title for manually marking POI in figure indoors, cause indoor figure The renewal efficiency of middle POI is very low.
【The content of the invention】
The invention provides update method, device and the computer-readable medium of interest point information in a kind of indoor figure, uses In the renewal efficiency for improving POI in indoor figure.
The present invention provides a kind of update method of interest point information in indoor figure, and methods described includes：
Gather the photo of the point of interest of Indoor environment；The photo of the point of interest includes the title of the point of interest；
Picture recognition is carried out to the photo of the point of interest, obtains the title of the point of interest；
The mirror of the geographical coordinate for obtaining the location point for the photo for gathering the point of interest and the photo for gathering the point of interest Head direction；
According to the geographical coordinate of the location point for the photo for gathering the point of interest and the mirror for the photo for gathering the point of interest Head direction, the graphical information that the title of the point of interest is updated to corresponding point of interest in the indoor figure with the building are tied up When calmly, make it that the figure of the point of interest in the indoor figure is shown, the mounting display interest on the figure The title of point.
Still optionally further, in method as described above, according to the geography of the location point for the photo for gathering the point of interest The camera lens direction of the photo of coordinate and the collection point of interest, the room with the building is updated to by the title of the point of interest The graphical information binding of corresponding point of interest, is specifically included in interior figure：
According to the geographical coordinate of the location point for the photo for gathering the point of interest and the mirror for the photo for gathering the point of interest Head direction, the graphical information of the point of interest of collection is obtained from the indoor figure of the building；
The title of the point of interest is updated to the graphical information of corresponding point of interest in the indoor figure with the building Binding.
Still optionally further, in method as described above, according to the geography of the location point for the photo for gathering the point of interest The camera lens direction of the photo of coordinate and the collection point of interest, the interest of shooting is obtained from the indoor figure of the building After the graphical information of point, the title of the point of interest is updated to corresponding point of interest in the indoor figure with the building Before graphical information binding, methods described also includes：
Judge the title for whether including a point of interest in the graphical information of the point of interest；
Determining the graphical information of the point of interest does not include the title of any point of interest；
Further, it is described after the title for judging in the graphical information of the point of interest whether to include a point of interest Method also includes：
Determine the title for including other points of interest in the graphical information of the point of interest, and the name of other points of interest Claim different and point of interest title.
Still optionally further, in method as described above, the geography of the location point for the photo for gathering the point of interest is obtained The camera lens direction of the photo of coordinate and the collection point of interest, is specifically included：
The geographical coordinate of the location point for the photo for gathering the point of interest is obtained based on Tango；
The camera lens direction for the photo for gathering the point of interest is obtained based on direction sensor.
Still optionally further, in method as described above, the position for the photo for gathering the point of interest is obtained based on Tango The geographical coordinate of point, is specifically included：
Obtain collection starting point and the geographical seat for gathering starting point that collector marks from indoor figure to be collected Mark；
Using the collection starting point as the origin of Tango reference coordinate system, adjusted according to the geographic direction of the indoor figure The direction of whole Tango reference coordinate system so that the direction of the reference coordinate system of the Tango and the indoor figure place Geographic coordinate system direction it is consistent；
According to the geographical coordinate of the reference coordinate system of the Tango after adjustment direction and the collection starting point, institute is gathered State the geographical coordinate of the location point for the photo that the point of interest is gathered in indoor figure.
Still optionally further, in method as described above, adjust the Tango's according to the geographic direction of the indoor figure The direction of reference coordinate system so that the direction of the reference coordinate system of the Tango and the geographic coordinate system where the indoor figure Direction it is consistent, specifically include：
It is default as collection direction, collection using the direction in a corridor in the indoor figure using the collection starting point as starting point Distance, obtain the straight path under the reference coordinate system of the Tango；
According to the actual direction in the corridor, adjust the direction of the reference coordinate system of the Tango so that collection it is described The geographic direction one in direction of the straight path in the reference coordinate system of the Tango and the corridor in the indoor figure Cause, so that the direction of the reference coordinate system of the Tango is consistent with the direction of the geographic coordinate system where the indoor figure.
Still optionally further, in method as described above, according to the reference coordinate system of the Tango after adjustment direction and The geographical coordinate of the collection starting point, gather the geographical seat of the location point for the photo that the point of interest is gathered in the indoor figure Mark, is specifically included：
Under the reference coordinate system for obtaining the Tango of the location point for the photo for gathering the point of interest after adjustment direction Tango coordinates；The Tango coordinates are origin of the corresponding collection point relative to the reference coordinate system of the Tango Displacement and the anglec of rotation；
Sat according to the Tango coordinates of the location point for the photo for gathering the point of interest and the geographical of collection starting point Mark, obtain the geographical coordinate of the location point for the photo for gathering the point of interest.
The present invention provides a kind of updating device of interest point information in indoor figure, and described device includes：
Photo acquisition module, the photo of the point of interest for gathering Indoor environment；The photo of the point of interest includes The title of the point of interest；
Picture recognition module, for carrying out picture recognition to the photo of the point of interest, obtain the title of the point of interest；
Data obtaining module, gathered for acquisition described in geographical coordinate and the collection of the location point of the photo of the point of interest The camera lens direction of the photo of point of interest；
Update module, geographical coordinate and the collection interest for the location point according to the photo for gathering the point of interest The camera lens direction of the photo of point, corresponding point of interest in the indoor figure with the building is updated to by the title of the point of interest Graphical information binding, during make it that the figure of the point of interest in the indoor figure is shown, mounted on the figure Show the title of the point of interest.
Still optionally further, in device as described above, the update module, specifically include：
Graphical information acquiring unit, geographical coordinate and collection for the location point according to the photo for gathering the point of interest The camera lens direction of the photo of the point of interest, the figure letter of the point of interest of collection is obtained from the indoor figure of the building Breath；
Updating block, for the title of the point of interest to be updated into corresponding interest in the indoor figure with the building The graphical information binding of point.
Still optionally further, in device as described above, the update module, specifically also include：
Judging unit, the title of a point of interest whether is included in the graphical information for judging the point of interest；And Determining the graphical information of the point of interest does not include the title of any point of interest；
Further, the judging unit, other are included in the graphical information for being specifically additionally operable to determine the point of interest The title of point of interest, and the title of other points of interest is different with the title of the point of interest.
Still optionally further, in device as described above, described information acquisition module, specifically include：
Geographical coordinate acquiring unit, the geography of the location point for obtaining the photo for gathering the point of interest based on Tango Coordinate；
Camera lens is towards acquiring unit, for obtaining the camera lens court for the photo for gathering the point of interest based on direction sensor To.
Still optionally further, in device as described above, the geographical coordinate acquiring unit, it is specifically used for：
Obtain collection starting point and the geographical seat for gathering starting point that collector marks from indoor figure to be collected Mark；
Using the collection starting point as the origin of Tango reference coordinate system, adjusted according to the geographic direction of the indoor figure The direction of whole Tango reference coordinate system so that the direction of the reference coordinate system of the Tango and the indoor figure place Geographic coordinate system direction it is consistent；
According to the geographical coordinate of the reference coordinate system of the Tango after adjustment direction and the collection starting point, institute is gathered State the geographical coordinate of the location point for the photo that the point of interest is gathered in indoor figure.
Still optionally further, in device as described above, the geographical coordinate acquiring unit, it is specifically used for：
It is default as collection direction, collection using the direction in a corridor in the indoor figure using the collection starting point as starting point Distance, obtain the straight path under the reference coordinate system of the Tango；
According to the actual direction in the corridor, adjust the direction of the reference coordinate system of the Tango so that collection it is described The geographic direction one in direction of the straight path in the reference coordinate system of the Tango and the corridor in the indoor figure Cause, so that the direction of the reference coordinate system of the Tango is consistent with the direction of the geographic coordinate system where the indoor figure.
Still optionally further, in device as described above, the geographical coordinate acquiring unit, it is specifically used for：
Under the reference coordinate system for obtaining the Tango of the location point for the photo for gathering the point of interest after adjustment direction Tango coordinates；The Tango coordinates are origin of the corresponding collection point relative to the reference coordinate system of the Tango Displacement and the anglec of rotation；
Sat according to the Tango coordinates of the location point for the photo for gathering the point of interest and the geographical of collection starting point Mark, obtain the geographical coordinate of the location point for the photo for gathering the point of interest.
The present invention also provides a kind of computer equipment, and the equipment includes：
One or more processors；
Memory, for storing one or more programs；
Camera, the photo of the point of interest for gathering Indoor environment；
Direction sensor, for obtaining the camera lens direction for the photo for gathering the point of interest；The camera and the side Communicate and connect with the processor respectively to sensor, by the photo of the point of interest of collection and gather the point of interest The camera lens direction of photo is transferred to the processor；
When one or more of programs are by one or more of computing devices so that one or more of processing Device realizes the update method of interest point information in indoor figure as described above.
The present invention also provides a kind of computer-readable medium, is stored thereon with computer program, the program is held by processor The update method of interest point information in indoor figure as described above is realized during row.
Update method, device and the computer-readable medium of interest point information in the indoor figure of the present invention, are built by collection Build the photo of the POI in thing room；POI photo includes POI title；Picture recognition is carried out to POI photo, obtains POI Title；Obtain the camera lens direction of the geographical coordinate of the location point of collection POI photo and collection POI photo；According to shooting The camera lens direction of the geographical coordinate of the location point of POI photo and shooting POI photo, POI title is updated to and built Corresponding POI graphical information binding in the indoor figure of thing, during make it that the figure of the POI in indoor figure is shown, in figure Upper mounting shows POI title.Technical scheme, it can overcome in the indoor figure of manual type renewal in the prior art The low-down technological deficiency of renewal efficiency of POI, automatically can be updated to the POI in indoor figure, can Effectively improve the renewal efficiency of the POI in indoor figure.
【Brief description of the drawings】
Fig. 1 is the flow chart of the update method embodiment one of POI in indoor figure of the invention.
Fig. 2 is the flow chart of the update method embodiment two of POI in indoor figure of the invention.
Fig. 3 is the schematic diagram of Tango reference coordinate system.
Fig. 4 is the structure chart of the updating device embodiment one of POI in indoor figure of the invention.
Fig. 5 is the structure chart of the updating device embodiment two of POI in indoor figure of the invention.
Fig. 6 is the structure chart of the computer equipment embodiment of the present invention.
Fig. 7 is a kind of exemplary plot of computer equipment provided by the invention.
【Embodiment】
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair The present invention is described in detail.
Tango is an augmented reality (Augmented Reality of Google (Google)；AR in project) One new technology.There is following 3 concepts in Tango, it is corresponding to be provided with 3 functional modules, setting can be passed through Which function is the respective field of TangoConfig objects select to open.
A. moving tracing (motion tracking)
Moving tracing, refers to the position in the 3 d space of Tango meeting recording, tracking mobile devices, and position data includes Place and super picture anglec of rotation etc., real-time report is to application.
B. regional learning (Area Leaning)
Moving tracing can only feed back the current coordinate information of mobile device, for equipment " seeing " to thing there is no any note Recall, regional learning makes mobile device it can be seen that and remembeing the key visual features of physical space, such as edge, corner etc..Area Domain indoctrination session saves what is seen, next time " see " again to when can be matched, utilize these data correction errors (drift correction) so that trajectory track, positioning are more accurate.
C. depth perception (Depth Perception)
Depth perception gives the distance between equipment " clear " object, and this is realized by the hardware device technology of uniqueness , such as " structure light ", " light velocity flight time TOF " and Stereo measurement in spaces.
In addition, in view of traditional location technology such as GPS location and WIFI positioning, it is very low to position upper precision indoors.It is based on Tango above-mentioned characteristic, Tango technologies can be applied to indoor positioning.Tango indoor positioning is using " with reference to fixed The mode of position ", i.e., relative to a kind of positioning method of " initial position ", be not related to satellite fix.Tango technologies are according to hardware The sensor of equipment, such as gravity sensor, inertial measuring unit (Inertial Measurement Unit；) and top IMU Spiral shell instrument etc., mobile device is obtained relative to " displacement " and " anglec of rotation " of initial position, oneself constructs " a reference coordinates System ", therefore, Tango has higher positional accuracy in the reference coordinate system of itself.
Collection shoots the geography of the location point of POI photo in the update method of POI in the indoor figure of the present embodiment Coordinate is realized i.e. based on above-mentioned Tango technologies, may be referred to the record of following embodiments in detail.
Fig. 1 is the flow chart of the update method embodiment one of POI in indoor figure of the invention.As shown in figure 1, this reality The update method of POI in the indoor figure of example is applied, specifically may include steps of：
100th, the POI of Indoor environment photo is gathered；POI photo includes POI title；
The executive agent of the update method of POI is the renewal of POI in indoor figure in the indoor figure of the present embodiment Device, the updating device of POI can be an independent electronic entity in the indoor figure.Such as can be that a movement is set It is standby, such as mobile phone or other mobile terminals.The updating device of POI is embedded with camera in the indoor figure, with to building Indoor POI the listed of shop is taken pictures, to obtain the photo for the POI for including POI titles.
In the indoor figure of the present embodiment in the update method of POI, a photography posture can be pre-defined, for example, Camera, which needs to hold up, during due to taking pictures comes, and the collection of image can be just realized perpendicular to ground, and usually carries camera The updating device of POI in indoor figure, it will not generally be holded up and.Therefore photography posture can be defined as POI in indoor figure The updating device of information is camera perpendicular to 90 degree of ground.In practical application, collector can be by POI in indoor figure Updating device hold up so that listed, the now POI in indoor figure in the camera alignment POI to be gathered shop Updating device is detected in photography posture, is now started camera and is opened, collection carries the POI of POI titles photo.Adopt The startup of collector's manual operation can be reduced with the program and closes the action of camera, reduced manual intervention, improved collection Efficiency.
101st, picture recognition is carried out to POI photo, obtains POI title；
The updating device of POI has picture recognition function in the indoor figure of the present embodiment, can be to the POI that collects Photo carry out picture recognition, obtain the word of POI therein title, related picture recognition technology may be referred to related existing There is technology, will not be repeated here.
Further, in the present embodiment, picture recognition is carried out to POI photo, can be with after the title for obtaining POI Title including reporting the POI, whether the POI identified by collector according to the checking of the POI actually seen title title Correctly, if incorrect, amended POI name can also be referred to as to POI's by collector to changing the title of the POI The title of POI after photo progress picture recognition.
102nd, the camera lens direction of the geographical coordinate for obtaining the location point of collection POI photo and the photo for gathering POI；
The updating device of POI in the indoor figure of the present embodiment, additionally it is possible to obtain the location point of collection POI photo The camera lens direction of geographical coordinate and collection POI photo.Such as the step can specifically include：
(a1) geographical coordinate of the location point of collection POI photo is obtained based on Tango；
(a2) the camera lens direction of collection POI photo is obtained based on direction sensor.
That is, Tango applications are provided with the indoor figure of the present embodiment in the updating device of POI, based on this Tango is applied, and can collect the geographical coordinate of the location point for the photo for shooting the POI.Specifically, by the shooting POI's The location point of photo, can the geographical coordinate based on the Tango application acquisitions collection point as the collection point for having a Tango. In addition, the direction sensor in the indoor figure of the present embodiment in the updating device of POI can be similar to electronic compass Etc the sensor that can detect direction.The updating device of POI in indoor figure is being holded up by collector, camera Be aligned wait the POI to take pictures shop it is listed when, the court of the direction sensor detection in indoor figure on the updating device of POI To the camera lens direction for the photo for being shooting POI, camera lens direction can identify location points of the POI in shooting POI photo Orientation.
103rd, will according to the camera lens direction of the geographical coordinate of the location point of shooting POI photo and the photo for shooting POI POI title is updated to the graphical information binding of corresponding POI in the indoor figure with building, to cause the POI in indoor figure Figure it is shown when, on figure mounting show POI title.
For example, the step 103, can specifically include：
(a2) according to the camera lens direction of the geographical coordinate of the location point of collection POI photo and collection POI photo, from building Build the graphical information for the POI that shooting is obtained in the indoor figure of thing；
(b2) graphical information that POI title is updated to corresponding POI in the indoor figure with building is bound.
Specifically, in indoor figure POI updating device according to shooting POI photo location point geographical coordinate and Shoot POI photo camera lens direction, can know to shooting POI relative to current location point direction, so as to Which the shop that the POI of the direction of the current location point lens direction is obtained from indoor figure is, will so as to get The graphical information in the POI shops of shooting.Then POI title is updated to the figure of corresponding POI in the indoor figure with building Shape information is bound.So, when the figure of the POI in subsequent chamber in figure is shown, can also be mounted on POI figure aobvious Show POI title.
Still optionally further, after step (a2), before step (b2), can also comprise the following steps：
(c2) title for whether including a POI in POI graphical information is judged；If including performing step (d2)；If Do not include, it is determined that the title for marking the POI is omitted in indoor figure originally, and performs step (b2).
(d2) judge whether the title for the POI that POI graphical information includes is identical with the POI titles that step 101 obtains, If it is determined that it is identical, any operation wouldn't be performed；Otherwise, however, it is determined that it is different, then with the figure of corresponding POI in the indoor figure of building The original POI titles of shape information binding are deleted, and perform step (b2).
The update method of POI in the indoor figure of the present embodiment, the photo of the POI by gathering Indoor environment；POI Photo include POI title；Picture recognition is carried out to POI photo, obtains POI title；Obtain collection POI photo Location point geographical coordinate and collection POI photo camera lens direction；Geographical according to the location point of shooting POI photo sits The camera lens direction of mark and shooting POI photo, POI title is updated to the figure of corresponding POI in the indoor figure with building Shape information is bound, during make it that the figure of the POI in indoor figure be shown, the mounting display POI title on figure.This implementation The technical scheme of example, can overcome manual type in the prior art update POI in indoor figure renewal efficiency it is very low Technological deficiency, automatically the POI in indoor figure can be updated, the POI in indoor figure can be effectively improved The renewal efficiency of information.
Fig. 2 is the flow chart of the update method embodiment two of POI in indoor figure of the invention.The interior of the present embodiment The update method of POI is discussed in detail real shown in Fig. 1 on the basis of the technical scheme of above-mentioned embodiment illustrated in fig. 1 in figure Apply the specific implementation of the step (a1) " geographical coordinate that the location point of collection POI photo is obtained based on Tango " in example. As shown in Fig. 2 in the indoor figure of the present embodiment in the update method of POI, collection POI photo is obtained based on Tango The geographical coordinate of location point, specifically may include steps of：
200th, the collection starting point and the geographical seat of collection starting point that acquisition collector marks from indoor figure to be collected Mark；
The updating device of POI is specifically as follows a shifting for being provided with Tango applications in the indoor figure of the present embodiment Dynamic equipment, such as mobile phone or other mobile terminals.
When implementing, it is necessary to first obtain indoor figure.For example, installed in the indoor figure on the updating device of POI Electronic map can be embedded with Tango applications, indoor figure to be collected can be obtained by opening electronic map.It is if to be collected Indoor figure be indoor a certain floor such as B1 or F2/B2 of some building etc., can specifically pass through selection The indoor figure of floor corresponding to corresponding figure layer opening.In the indoor figure of the floor, the indoor each of the floor is identified with Such as retail shop and the road network of dining room POI and the floor.The road network of the floor refers to that all of the floor supply user's row The network structure that the corridor walked is formed.
In the present embodiment, the updating device of POI also carries display in the indoor figure, obtain indoor figure it Afterwards, a point is selected in the indoor figure that collector can show from indoor figure on the display of the updating device of POI, It is labeled as gathering starting point.And electronic map of the needs in Tango obtains the geographical coordinate i.e. longitude and latitude of the collection starting point Coordinate；Such as the geographical coordinate of collection starting point can be obtained by GPS location or other correlation techniques.Gather the longitude and latitude of starting point Degree coordinate is identified using geographic coordinate system, and geographic coordinate system is the reference frame that the whole world shares, and ginseng is used as by the use of it Examine, the latitude and longitude coordinates in any geographical position in the world can be identified.In indoor positioning data acquisition, for the ease of in Tango Reference coordinate system in identify each collection point, can figure indoors a middle position point selected around as collection starting point. Specifically can one feature of selection is significantly put as collection starting point in figure indoors, such as select each bar in the road network of indoor figure The Rendezvous Point of road is as collection starting point.But if collection starting point is located at the interior of building, obtains and adopt according to GPS location Collect the geographical coordinate of starting point, the geographical coordinate for being likely to result in collection starting point obtains inaccuracy.Building room can now be selected Collection starting point of the interior point not far apart from entrance as mark.
201st, to gather starting point as the origin of Tango reference coordinate system, adjusted according to the geographic direction of indoor figure The direction of Tango reference coordinate system so that the direction of Tango reference coordinate system and the geographic coordinate system where indoor figure Direction is consistent；
In the present embodiment, Tango reference can be built to gather starting point as the origin of Tango reference coordinate system Coordinate system.During concrete operations, it can control in the position of the collection starting point and open Tango applications, now can be to realize with this Gather origin of the position of starting point as Tango reference coordinate system.During collection, it can be carried by collector in the indoor figure The updating device of POI opens Tango applications to the collection starting point selected.Now in the indoor figure POI renewal Device can be to learn that collector selects current location as collection starting point, and obtains the geographical coordinate of the collection starting point.Then The updating device of POI gathers starting point using current location as the origin of Tango reference frame in the indoor figure, opens The collection for the progress indoor positioning data that begin.
Because in Tango reference coordinate system, the Tango coordinates of each collection point of collection are with apart from the displacement of origin D and recorded relative to 0 degree of anglec of rotation α.It is 0 that wherein 0 degree of Tango reference coordinate system, which chooses the positive direction of y-axis, Degree.And Tango is when positioning, using the direction that gathers first as 0 degree of direction, and with actual geographic direction in this direction without Close.For example, Fig. 3 is the schematic diagram of Tango reference coordinate system.As shown in figure 3, the y-axis of the reference coordinate system of the Tango is positive For 0 degree of direction, can choose clockwise for the positive direction of the anglec of rotation, the scope of the anglec of rotation is 0-360 degree.Wherein Tango coordinates of the point P under Tango reference coordinate system can be expressed as (d, α), and wherein d is point P distances Tango reference The origin O of coordinate system displacement, α are the anglecs of rotation of the OP relative to 0 degree of direction of Tango reference coordinate system.Point Q exists Tango coordinates under Tango reference coordinate system can be expressed as (d ', β), and d ' is point Q distances Tango reference coordinate system Origin O displacement, β are the anglecs of rotation of the OQ relative to 0 degree of direction of Tango reference coordinate system.
In the present embodiment, 0 degree of direction can be the more new clothes of POI in indoor figure in Tango reference coordinate system Put after opening Tango applications, the direction gathered first, and there is no any relation with the geographic direction of the indoor figure of reality.This In embodiment, in order to carry out the collection of indoor positioning data using Tango, it can be adjusted according to the geographic direction of indoor figure The direction of Tango reference coordinate system so that the direction of Tango reference coordinate system and the geographic coordinate system where indoor figure Direction is consistent.
For example, the step 201, specifically may include steps of：
(a3) to gather starting point as starting point, using the direction in a corridor in indoor figure as collection direction, pre-determined distance is gathered, Obtain the straight path under Tango reference coordinate system；
(b3) according to the actual direction in corridor, the direction of Tango reference coordinate system is adjusted so that the straight path of collection Direction in Tango reference coordinate system is consistent with the geographic direction in the corridor in indoor figure, so that Tango reference The direction of coordinate system is consistent with the direction of the geographic coordinate system where indoor figure.
The indoor figure of selection in the present embodiment is the indoor figure in electronic map, and the direction in electronic map is base area Manage coordinate system mark.Therefore, according to indoor figure, the direction in each corridor in indoor figure can be learnt.In the present embodiment, Can be to gather starting point as starting point, the direction that a corridor in indoor figure is selected around the starting point is collection direction, control room The updating device collection pre-determined distance of POI in interior figure, such as 5-6 rice can be only gathered, collection direction is can determine, So, one section of straight path under Tango reference coordinate system can be obtained.According to Tango strategy, now, the straight line rail Mark is opens the track on first direction of Tango application collections, and now the straight path is located at y-axis forward, straight line rail Mark one end is located at the origin of Tango reference coordinate system, the other end be y-axis forward apart from the opening position of origin pre-determined distance, The anglec of rotation corresponding to straight path is 0 degree.And according to the geographic coordinate system of electronic map, y-axis is positive generally to represent geography side To the direction being exposed to the north.And in Tango reference frame, the straight path does not identify direction.Now can be according to corridor direction Actual direction, adjust the direction of Tango reference coordinate system so that the straight path of collection is in Tango reference coordinate system Direction it is consistent with the geographic direction in the corridor in indoor figure.For example, if now corridor is towards east, accordingly in electronic map In geographic coordinate system, it should which towards right, and the y-axis forward direction where straight path is towards upper, now can be by Tango reference Coordinate system dextrorotation is turn 90 degrees, in direction of the straight path now gathered in Tango reference coordinate system and indoor figure Corridor geographic direction it is consistent so that the geographic coordinate system where the direction of Tango reference coordinate system and indoor figure Direction it is consistent.
In the present embodiment, the corridor no matter selected is also being directed towards two just towards the positive direction for being east, south, west or north An angle between direction, it according to the actual direction in corridor, can adjust the direction of Tango reference coordinate system so that Direction of the straight path of collection in Tango reference coordinate system is consistent with the geographic direction in the corridor in indoor figure,
202nd, according to the geographical coordinate of the reference coordinate system of the Tango after adjustment direction and collection starting point, indoor figure is gathered The geographical coordinate of the location point of middle collection POI photo.
In the present embodiment, the reference coordinate system of the Tango after adjustment is consistent with the direction of the geographic coordinate system of reality, according to The Tango coordinates of the origin of the reference coordinate system of Tango after adjustment and the geographical coordinate of origin, Tango ginseng can be released According to the mapping relations of Tango coordinates and the corresponding geographical coordinate of each location point in coordinate system, so as to realize In Tango reference frame, according to the Tango coordinates of the location point for the photo that the POI is shot in indoor figure, realize to obtain and clap Take the photograph the geographical coordinate of the location point of the photo of the POI.
For example, the step 202, specifically may include steps of：
(a4) Tango under Tango of the location point of collection shooting POI photo after adjustment direction reference coordinate system Coordinate；Tango coordinates are corresponding displacement and the anglec of rotation of the collection point relative to the origin of Tango reference coordinate system；
(b4) according to the Tango coordinates of the location point of shooting POI photo and the geographical coordinate of collection starting point, obtain and clap Take the photograph the geographical coordinate of the location point of POI photo.
For example, the indoor figure in the present embodiment is to be drawn in electronic map previously according to the indoor arrangement of building. The road network that the indoor corridor for user's walking of building is formed, can all embody in corresponding indoor figure.This reality Applying the indoor positioning data of example can only navigate in the corridor in indoor figure, so, can when gathering indoor positioning data According only to the road network in indoor figure, to set acquisition trajectories.Because each POI in indoor figure is all located at the i.e. acquisition trajectories of road network Both sides, therefore, the location point of the shooting POI of the present embodiment photo are all located in acquisition trajectories.
In the collection of Tango technologies, in indoor figure the updating device of POI can from collection starting point, along Acquisition trajectories gather.A selected collection point is at intervals spaced in practical application, when being gathered along acquisition trajectories.So The Tango coordinates of each collection point can be identified under the reference coordinate system of the Tango after adjustment direction afterwards, i.e., relative to The displacement of the origin of Tango reference coordinate system and the anglec of rotation.The density journey at distance interval here and required collection point Spend it is relevant, such as distance interval can between 0.2m-1m any one distance value, or can also select according to the actual requirements Other distance values.The distance interval of adjacent collection point can be with identical, can also be different.And to POI in indoor figure in the present embodiment The contributive collection point of renewal of information is only the location point for the photo for gathering POI, and the information of other collection points can not weigh Point concern.Therefore, in the present embodiment, when the updating device of POI detects photography posture in indoor figure, photo acquisition is started Module is camera shooting photo, while records the timestamp taken pictures, while gathers the location point of collection POI photo and adopt The timestamp of collection；The timestamp gathered is identical with the timestamp taken pictures, so, can with by the photo of collection with collection position The information put a little establishes corresponding relation.Then the collection point is identified under the reference coordinate system of the Tango after adjustment direction Tango coordinates, i.e., relative to Tango reference coordinate system origin displacement and the anglec of rotation.
In the present embodiment, the reference coordinate system of the Tango after adjustment is consistent with the direction of the geographic coordinate system of reality, and former Point differs.Now, due to the origin of origin, i.e. Tango reference coordinate system of the collection starting point as Tango reference coordinate system Tango coordinates (0,0) and geographical coordinate be latitude and longitude coordinates, it is known that so, can be first in Tango ginseng during collection Take in coordinate system the Tango coordinates of the location point for the picture for gathering shooting POI, as certain location point Tango coordinates for (d, α), i.e., the location point is that origin stretches out displacement d, and along direction of rotation anglec of rotation α.Closed according to such mapping System, can be by the geographical coordinate of origin in the same way, and stretch out displacement d, and relative to origin along direction of rotation Anglec of rotation α, map out the geographical coordinate of the location point of shooting POI photo.Using aforesaid way, it is possible to achieve to interior The geographical coordinate of the location point of each shooting POI photo is acquired in figure, and then by the way of above-described embodiment, it is right POI is updated in indoor figure.
It should be noted that the updating device of POI gathers from collection starting point along acquisition trajectories in indoor figure During location data, the updating device that POI in indoor figure can be carried by collector is walked along acquisition trajectories so that room The updating device of POI enters to the geographical coordinate of the location point of the photo of all shooting POI in acquisition trajectories in interior figure Row collection.Or can also the updating device of POI automatically moves along acquisition trajectories in figure in control room, to realize to adopting The geographical coordinate of the location point of the photo of all shooting POI in collection track is acquired.
The update method of POI in the indoor figure of the present embodiment, collection shooting POI photograph is realized based on Tango technologies The geographical coordinate of the location point of piece, the accuracy of the geographical coordinate of the location point of indoor collection shooting POI photo can be improved, And then the very accurate geographical coordinate can be based on, it can automatically realize and POI in indoor figure is effectively updated, So as to effectively improve the renewal efficiency of the POI in indoor figure.
Fig. 4 is the structure chart of the updating device embodiment one of POI in indoor figure of the invention.As shown in figure 4, this reality The updating device of POI in the indoor figure of example is applied, can specifically be included：Photo acquisition module 10, picture recognition module 11, letter Cease acquisition module 12 and update module 13.
Wherein photo acquisition module 10 is used for the photo for gathering the POI of Indoor environment；POI photo includes POI's Title；Such as the photo acquisition module 10 can be realized using camera.
The photo that picture recognition module 11 is used for the POI gathered to photo acquisition module 10 carries out picture recognition, obtains POI Title；
Data obtaining module 12 be used for obtain photo acquisition module 10 gather POI photo location point geographical coordinate and Gather the camera lens direction of POI photo；
The photo acquisition module 10 that update module 13 is used to be got according to data obtaining module 12 gathers POI photo The camera lens direction of the geographical coordinate of location point and collection POI photo, the title renewal for the POI that picture recognition module 11 is identified Bound to the graphical information of corresponding POI in the indoor figure of building, to cause the figure of the POI in indoor figure to be shown When, the mounting display POI title on figure.
The updating device of POI in the indoor figure of the present embodiment, realize that POI believes in indoor figure by using above-mentioned module The realization principle and technique effect of the renewal of breath are identical with realizing for above-mentioned related method embodiment, may be referred in detail above-mentioned The record of related method embodiment, will not be repeated here.
Fig. 5 is the structure chart of the updating device embodiment two of POI in indoor figure of the invention.As shown in figure 5, this reality The updating device of POI in the indoor figure of example is applied, on the basis of the technical scheme of above-mentioned embodiment illustrated in fig. 4, further Technical scheme is introduced in further detail.
As shown in figure 5, in the indoor figure of the present embodiment in the updating device of POI, update module 13 specifically includes：
Graphical information acquiring unit 131 is used for the location point of the collection POI obtained according to data obtaining module 12 photo Geographical coordinate and collection POI photo camera lens direction, obtained from the indoor figure of building shooting POI figure letter Breath；
The title for the POI that updating block 132 is used to identify picture recognition module 11 is updated to obtains list with graphical information Corresponding POI graphical information binding in the indoor figure for the building that member 131 obtains.
Still optionally further, as shown in figure 5, in the indoor figure of the present embodiment in the updating device of POI, update module 13 specifically also include：
Whether include in the graphical information for the POI that judging unit 133 obtains for judging graphical information acquiring unit 131 One POI title；And determine that POI graphical information does not include any POI title；Then triggering updating block 132 will scheme The title for the POI that piece identification module 11 identifies is updated in the indoor figure of the building obtained with graphical information acquiring unit 131 Corresponding POI graphical information binding.
Further, the specific figure for being additionally operable to determine the POI that graphical information acquiring unit 131 obtains of judging unit 133 Include other POI title, and other POI different titles with POI of title in information；Then updating block 132 is triggered The title for the POI that picture recognition module 11 is identified is updated to the interior of the building obtained with graphical information acquiring unit 131 Corresponding POI graphical information binding in figure.
Still optionally further, as shown in figure 5, in the indoor figure of the present embodiment in the updating device of POI, information gathering Module 12 specifically includes：
Geographical coordinate acquiring unit 121 is used for the position for being obtained photo acquisition module 10 based on Tango and being gathered POI photo The geographical coordinate of point；Such as the geographical coordinate acquiring unit 121 can use a Tango application to realize.
Camera lens is used for the collection POI that the collection of photo acquisition module 10 is obtained based on direction sensor towards acquiring unit 122 Photo camera lens direction.Such as the camera lens can use towards acquiring unit 122 and be similar to the direction sensors such as electronic compass To realize.
Accordingly, graphical information acquiring unit 131 is used for the collection POI's obtained according to geographical coordinate acquiring unit 121 The camera lens direction of the photo for the collection POI that the geographical coordinate and camera lens of the location point of photo obtain towards acquiring unit 122, from building Build the graphical information for the POI that shooting is obtained in the indoor figure of thing.
Still optionally further, in the indoor figure of the present embodiment in the updating device of POI, geographical coordinate acquiring unit 121 are specifically used for：
The collection starting point and the geographical coordinate of collection starting point that acquisition collector marks from indoor figure to be collected；
To gather starting point as the origin of Tango reference coordinate system, adjust Tango's according to the geographic direction of indoor figure The direction of reference coordinate system so that the direction of Tango reference coordinate system and the direction one of the geographic coordinate system where indoor figure Cause；
According to the geographical coordinate of the reference coordinate system of the Tango after adjustment direction and collection starting point, gather and clapped in indoor figure Take the photograph the geographical coordinate of the location point of POI photo.
Still optionally further, in the indoor figure of the present embodiment in the updating device of POI, geographical coordinate acquiring unit 121 are specifically used for：
To gather starting point as starting point, using the direction in a corridor in indoor figure as collection direction, pre-determined distance is gathered, is obtained Straight path under Tango reference coordinate system；
According to the actual direction in corridor, the direction of Tango reference coordinate system is adjusted so that the straight path of collection exists Direction in Tango reference coordinate system is consistent with the geographic direction in the corridor in indoor figure, so that Tango reference is sat The direction for marking system is consistent with the direction of the geographic coordinate system where indoor figure.
Still optionally further, in the indoor figure of the present embodiment in the updating device of POI, geographical coordinate acquiring unit 121 are specifically used for：
Tango under Tango of the location point of collection shooting POI photo after adjustment direction reference coordinate system is sat Mark；Tango coordinates are corresponding displacement and the anglec of rotation of the collection point relative to the origin of Tango reference coordinate system；
According to the Tango coordinates of the location point of shooting POI photo and the geographical coordinate of collection starting point, shooting is obtained The geographical coordinate of the location point of POI photo.
The updating device of POI in the indoor figure of the present embodiment, realize that POI believes in indoor figure by using above-mentioned module The realization principle and technique effect of the renewal of breath are identical with realizing for above-mentioned related method embodiment, may be referred in detail above-mentioned The record of related method embodiment, will not be repeated here.
Fig. 6 is the structure chart of the computer equipment embodiment of the present invention.As shown in fig. 6, the computer equipment of the present embodiment, Including：One or more processors 30, and memory 40, camera 50 and direction sensor 60, memory 40 are used to store One or more programs；Camera 50 is used for the photo for gathering the POI of Indoor environment；Direction sensor 60, which is used to obtain, to be gathered The camera lens direction of POI photo；Camera 50 and direction sensor 60 communicate with processor 30 respectively to be connected, by collection The camera lens direction of POI photo and collection POI photo is transferred to processor 30；When the one or more stored in memory 40 Program is performed by one or more processors 30 so that one or more processors 30 combine the collection that camera 50 transmits The camera lens direction of the collection POI of POI photo and direction sensor 60 transmission photo, realize real as shown in figure 1 above-Fig. 3 Apply the update method of POI in the indoor figure of example.Direction sensor 60 in the computer equipment of the present embodiment can use Electronic compass etc. can be identified for that the sensor in direction.In embodiment illustrated in fig. 6 exemplified by including multiple processors 30.For example, this The computer equipment of embodiment can be the mobile devices such as a mobile phone with camera, electronic compass and Tango applications.
For example, Fig. 7 is a kind of exemplary plot of computer equipment provided by the invention.Fig. 7 is shown suitable for being used for realizing this The exemplary computer device 12a of invention embodiment block diagram.The computer equipment 12a that Fig. 7 is shown is only an example, Any restrictions should not be brought to the function and use range of the embodiment of the present invention.
As shown in fig. 7, computer equipment 12a is showed in the form of universal computing device.Computer equipment 12a component can To include but is not limited to：One or more processor 16a, system storage 28a, connection different system component (including system Memory 28a and processor 16a) bus 18a.
Bus 18a represents the one or more in a few class bus structures, including memory bus or Memory Controller, Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.Lift For example, these architectures include but is not limited to industry standard architecture (ISA) bus, MCA (MAC) Bus, enhanced isa bus, VESA's (VESA) local bus and periphery component interconnection (PCI) bus.
Computer equipment 12a typically comprises various computing systems computer-readable recording medium.These media can be it is any can The usable medium accessed by computer equipment 12a, including volatibility and non-volatile media, moveable and immovable Jie Matter.
System storage 28a can include the computer system readable media of form of volatile memory, such as deposit at random Access to memory (RAM) 30a and/or cache memory 32a.Computer equipment 12a may further include it is other it is removable/ Immovable, volatile/non-volatile computer system storage medium.Only as an example, storage system 34a can be used for reading Write immovable, non-volatile magnetic media (Fig. 7 is not shown, is commonly referred to as " hard disk drive ").Although not shown in Fig. 7, It can provide for the disc driver to may move non-volatile magnetic disk (such as " floppy disk ") read-write, and to removable non-easy The CD drive of the property lost CD (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each Driver can be connected by one or more data media interfaces with bus 18a.System storage 28a can be included at least One program product, the program product have one group of (for example, at least one) program module, and these program modules are configured to hold The function of the above-mentioned each embodiments of Fig. 1-Fig. 5 of the row present invention.
Program with one group of (at least one) program module 42a/utility 40a, such as system can be stored in and deposited In reservoir 28a, such program module 42a include --- but being not limited to --- operating system, one or more application program, Other program modules and routine data, the reality of network environment may be included in each or certain combination in these examples It is existing.Program module 42a generally performs the function and/or method in above-mentioned each embodiments of Fig. 1-Fig. 5 described in the invention.
Computer equipment 12a can also be with one or more external equipment 14a (such as keyboard, sensing equipment, display 24a etc.) communication, the equipment communication interacted with computer equipment 12a can be also enabled a user to one or more, and/or (such as network interface card is adjusted with enabling any equipment that computer equipment 12a communicated with one or more of the other computing device Modulator-demodulator etc.) communication.This communication can be carried out by input/output (I/O) interface 22a.Also, computer equipment 12a can also by network adapter 20a and one or more network (such as LAN (LAN), wide area network (WAN) and/or Public network, such as internet) communication.As illustrated, network adapter 20a by bus 18a and computer equipment 12a its Its module communicates.It should be understood that although not shown in the drawings, other hardware and/or software can be used with reference to computer equipment 12a Module, include but is not limited to：Microcode, device driver, redundant processor, external disk drive array, RAID system, tape Driver and data backup storage system etc..
Processor 16a is stored in program in system storage 28a by operation, so as to perform various function application and Data processing, such as realize the update method of interest point information in the indoor figure shown in above-described embodiment.
The present invention also provides a kind of computer-readable medium, is stored thereon with computer program, the program is held by processor The update method of interest point information in the indoor figure as shown in above-mentioned embodiment is realized during row.
The computer-readable medium of the present embodiment can be included in the system storage 28a in above-mentioned embodiment illustrated in fig. 7 RAM30a, and/or cache memory 32a, and/or storage system 34a.
With the development of science and technology, the route of transmission of computer program is no longer limited by tangible medium, can also be directly from net Network is downloaded, or is obtained using other modes.Therefore, the computer-readable medium in the present embodiment can not only include tangible Medium, invisible medium can also be included.
The computer-readable medium of the present embodiment can use any combination of one or more computer-readable media. Computer-readable medium can be computer-readable signal media or computer-readable recording medium.Computer-readable storage medium Matter for example may be-but not limited to-system, device or the device of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or Combination more than person is any.The more specifically example (non exhaustive list) of computer-readable recording medium includes：With one Or the electrical connections of multiple wires, portable computer diskette, hard disk, random access memory (RAM), read-only storage (ROM), Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-ROM), light Memory device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable recording medium can Be it is any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or Person is in connection.
Computer-readable signal media can include in a base band or as carrier wave a part propagation data-signal, Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be Any computer-readable medium beyond computer-readable recording medium, the computer-readable medium can send, propagate or Transmit for by instruction execution system, device either device use or program in connection.
The program code included on computer-readable medium can be transmitted with any appropriate medium, including --- but it is unlimited In --- wireless, electric wire, optical cable, RF etc., or above-mentioned any appropriate combination.
It can be write with one or more programming languages or its combination for performing the computer that operates of the present invention Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++, Also include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with Fully perform, partly perform on the user computer on the user computer, the software kit independent as one performs, portion Divide and partly perform or performed completely on remote computer or server on the remote computer on the user computer. Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including LAN (LAN) or Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as carried using Internet service Pass through Internet connection for business).
In several embodiments provided by the present invention, it should be understood that disclosed system, apparatus and method can be with Realize by another way.For example, device embodiment described above is only schematical, for example, the unit Division, only a kind of division of logic function, can there is other dividing mode when actually realizing.
The unit illustrated as separating component can be or may not be physically separate, show as unit The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs 's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list Member can both be realized in the form of hardware, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit realized in the form of SFU software functional unit, can be stored in one and computer-readable deposit In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are causing a computer It is each that equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform the present invention The part steps of embodiment methods described.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (Read- Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various Can be with the medium of store program codes.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention God any modification, equivalent substitution and improvements done etc., should be included within the scope of protection of the invention with principle.

Claims (16)

1. the update method of interest point information in a kind of indoor figure, it is characterised in that methods described includes：
Gather the photo of the point of interest of Indoor environment；The photo of the point of interest includes the title of the point of interest；
Picture recognition is carried out to the photo of the point of interest, obtains the title of the point of interest；
The camera lens court of the geographical coordinate for obtaining the location point for the photo for gathering the point of interest and the photo for gathering the point of interest To；
According to the camera lens court of the geographical coordinate of the location point for the photo for gathering the point of interest and the photo for gathering the point of interest To, the graphical information that the title of the point of interest is updated to corresponding point of interest in the indoor figure with the building is bound, During make it that the figure of the point of interest in the indoor figure is shown, the mounting display point of interest on the figure Title.
2. according to the method for claim 1, it is characterised in that according to the ground of the location point for the photo for gathering the point of interest Manage coordinate and gather the camera lens direction of the photo of the point of interest, the title of the point of interest is updated to and the building The graphical information binding of corresponding point of interest, is specifically included in indoor figure：
According to the camera lens court of the geographical coordinate of the location point for the photo for gathering the point of interest and the photo for gathering the point of interest To obtaining the graphical information of the point of interest of collection from the indoor figure of the building；
The graphical information that the title of the point of interest is updated to corresponding point of interest in the indoor figure with the building is bound.
3. according to the method for claim 2, it is characterised in that according to the ground of the location point for the photo for gathering the point of interest Manage coordinate and gather the camera lens direction of the photo of the point of interest, the described emerging of shooting is obtained from the indoor figure of the building After the graphical information of interest point, the title of the point of interest is updated to corresponding point of interest in the indoor figure with the building Graphical information binding before, methods described also includes：
Judge the title for whether including a point of interest in the graphical information of the point of interest；
Determining the graphical information of the point of interest does not include the title of any point of interest；
Further, after the title for judging in the graphical information of the point of interest whether to include a point of interest, methods described Also include：
The title for including other points of interest in the graphical information of the point of interest is determined, and the title of other points of interest is not With the title with the point of interest.
4. according to any described methods of claim 1-3, it is characterised in that obtain the position for the photo for gathering the point of interest The camera lens direction of the geographical coordinate of point and the photo of the collection point of interest, is specifically included：
The geographical coordinate of the location point for the photo for gathering the point of interest is obtained based on Tango；
The camera lens direction for the photo for gathering the point of interest is obtained based on direction sensor.
5. according to the method for claim 4, it is characterised in that the photo of the collection point of interest is obtained based on Tango The geographical coordinate of location point, is specifically included：
Obtain collection starting point and the geographical coordinate for gathering starting point that collector marks from indoor figure to be collected；
Using the collection starting point as the origin of Tango reference coordinate system, institute is adjusted according to the geographic direction of the indoor figure State the direction of Tango reference coordinate system so that the direction of the reference coordinate system of the Tango and the ground where the indoor figure The direction for managing coordinate system is consistent；
According to the geographical coordinate of the reference coordinate system of the Tango after adjustment direction and the collection starting point, the room is gathered The geographical coordinate of the location point of the photo of the point of interest is gathered in interior figure.
6. according to the method for claim 5, it is characterised in that according to the adjustment of the geographic direction of the indoor figure The direction of Tango reference coordinate system so that the direction of the reference coordinate system of the Tango and the geography where the indoor figure The direction of coordinate system is consistent, specifically includes：
Using the collection starting point as starting point, using the direction in a corridor in the indoor figure as collection direction, pre-determined distance is gathered, Obtain the straight path under the reference coordinate system of the Tango；
According to the actual direction in the corridor, the direction of the reference coordinate system of the Tango is adjusted so that the straight line of collection Direction of the track in the reference coordinate system of the Tango is consistent with the geographic direction in the corridor in the indoor figure, from And make it that the direction of the reference coordinate system of the Tango is consistent with the direction of the geographic coordinate system where the indoor figure.
7. according to the method for claim 5, it is characterised in that according to the reference coordinates of the Tango after adjustment direction System and the geographical coordinate of the collection starting point, gather the geography of the location point for the photo that the point of interest is gathered in the indoor figure Coordinate, specifically include：
Under the reference coordinate system for obtaining the Tango of the location point for the photo for gathering the point of interest after adjustment direction Tango coordinates；The Tango coordinates are the corresponding collection point relative to the origin of the reference coordinate system of the Tango Displacement and the anglec of rotation；
According to the Tango coordinates of the location point for the photo for gathering the point of interest and the geographical coordinate of the collection starting point, obtain Take the geographical coordinate of the location point for the photo for gathering the point of interest.
8. the updating device of interest point information in a kind of indoor figure, it is characterised in that described device includes：
Photo acquisition module, the photo of the point of interest for gathering Indoor environment；The photo of the point of interest includes described The title of point of interest；
Picture recognition module, for carrying out picture recognition to the photo of the point of interest, obtain the title of the point of interest；
Data obtaining module, for the geographical coordinate and the collection interest of the location point for obtaining the photo for gathering the point of interest The camera lens direction of the photo of point；
Update module, geographical coordinate and the collection point of interest for the location point according to the photo for gathering the point of interest The camera lens direction of photo, the title of the point of interest is updated to the figure of corresponding point of interest in the indoor figure with the building Shape information is bound, during make it that the figure of the point of interest in the indoor figure be shown, on the figure mounting show The title of the point of interest.
9. device according to claim 8, it is characterised in that the update module, specifically include：
Graphical information acquiring unit, for described in the geographical coordinate of the location point according to the photo for gathering the point of interest and collection The camera lens direction of the photo of point of interest, the graphical information of the point of interest of collection is obtained from the indoor figure of the building；
Updating block, for the title of the point of interest to be updated into corresponding point of interest in the indoor figure with the building Graphical information is bound.
10. device according to claim 9, it is characterised in that the update module, specifically also include：
Judging unit, the title of a point of interest whether is included in the graphical information for judging the point of interest；And determine The graphical information of the point of interest does not include the title of any point of interest；
Further, the judging unit, other interest are included in the graphical information for being specifically additionally operable to determine the point of interest The title of point, and the title of other points of interest is different with the title of the point of interest.
11. according to any described devices of claim 8-10, it is characterised in that described information acquisition module, specifically include：
Geographical coordinate acquiring unit, the geographical coordinate of the location point for obtaining the photo for gathering the point of interest based on Tango；
Camera lens is towards acquiring unit, for obtaining the camera lens direction for the photo for gathering the point of interest based on direction sensor.
12. device according to claim 11, it is characterised in that the geographical coordinate acquiring unit, be specifically used for：
Obtain collection starting point and the geographical coordinate for gathering starting point that collector marks from indoor figure to be collected；
Using the collection starting point as the origin of Tango reference coordinate system, institute is adjusted according to the geographic direction of the indoor figure State the direction of Tango reference coordinate system so that the direction of the reference coordinate system of the Tango and the ground where the indoor figure The direction for managing coordinate system is consistent；
According to the geographical coordinate of the reference coordinate system of the Tango after adjustment direction and the collection starting point, the room is gathered The geographical coordinate of the location point of the photo of the point of interest is gathered in interior figure.
13. device according to claim 12, it is characterised in that the geographical coordinate acquiring unit, be specifically used for：
Using the collection starting point as starting point, using the direction in a corridor in the indoor figure as collection direction, pre-determined distance is gathered, Obtain the straight path under the reference coordinate system of the Tango；
According to the actual direction in the corridor, the direction of the reference coordinate system of the Tango is adjusted so that the straight line of collection Direction of the track in the reference coordinate system of the Tango is consistent with the geographic direction in the corridor in the indoor figure, from And make it that the direction of the reference coordinate system of the Tango is consistent with the direction of the geographic coordinate system where the indoor figure.
14. device according to claim 12, it is characterised in that the geographical coordinate acquiring unit, be specifically used for：
Under the reference coordinate system for obtaining the Tango of the location point for the photo for gathering the point of interest after adjustment direction Tango coordinates；The Tango coordinates are the corresponding collection point relative to the origin of the reference coordinate system of the Tango Displacement and the anglec of rotation；
According to the Tango coordinates of the location point for the photo for gathering the point of interest and the geographical coordinate of the collection starting point, obtain Take the geographical coordinate of the location point for the photo for gathering the point of interest.
15. a kind of computer equipment, it is characterised in that the equipment includes：
One or more processors；
Memory, for storing one or more programs；
Camera, the photo of the point of interest for gathering Indoor environment；
Direction sensor, for obtaining the camera lens direction for the photo for gathering the point of interest；The camera and the direction pass Sensor communicates with the processor connect respectively, by the photo of the point of interest of collection and the photo of the collection point of interest Camera lens towards being transferred to the processor；
When one or more of programs are by one or more of computing devices so that one or more of processors are real The now method as described in any in claim 1-7.
16. a kind of computer-readable medium, is stored thereon with computer program, it is characterised in that the program is executed by processor Methods of the Shi Shixian as described in any in claim 1-7.
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