CN107885763B

CN107885763B - Method and device for updating interest point information in indoor map and computer readable medium

Info

Publication number: CN107885763B
Application number: CN201710854156.XA
Authority: CN
Inventors: 卢志泳; 贾海禄
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2017-09-20
Filing date: 2017-09-20
Publication date: 2021-07-20
Anticipated expiration: 2037-09-20
Also published as: CN107885763A

Abstract

The invention provides a method and a device for updating interest point information in an indoor map and a computer readable medium. The method comprises the following steps: acquiring photos of POI in a building room; the photo of the POI comprises the name of the POI; carrying out picture identification on the photo of the POI to acquire the name of the POI; acquiring the geographic coordinates of the position points of the photo of the collected POI and the lens orientation of the photo of the collected POI; updating the name of the POI to be bound with the corresponding graphic information of the POI in the indoor map of the building according to the geographic coordinates of the position point of the photo taking the POI and the lens orientation of the photo taking the POI, so that the name of the POI is hung and displayed on the graphic when the graphic of the POI in the indoor map is displayed. According to the technical scheme, the defect that the efficiency of updating the POI information in the indoor map manually in the prior art is low is overcome, the POI information in the indoor map can be automatically updated, and the efficiency of updating the POI information in the indoor map can be effectively improved.

Description

Method and device for updating interest point information in indoor map and computer readable medium

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of computer application, in particular to a method and a device for updating interest point information in an indoor map and a computer readable medium.

[ background of the invention ]

With the coverage Of indoor maps Of buildings Of map products increasing, in order to more effectively show each Point Of Interest (POI) in the indoor maps to users, names Of the POIs need to be displayed on the graphs Of the POIs in the indoor maps so as to more truly reflect the distribution Of the POIs in the real buildings.

In the prior art, the collection of POI information in an indoor map includes collection of graphic information of a POI and collection of names of POIs corresponding to respective graphics. The graphic information of the POI may include the shape of a POI store in the indoor of the building, the geographic coordinates of the boundary, and the like, and the size, the shape, and the like of the POI store in the indoor map may be determined according to the graphic information of the POI, that is, the graphic information of the POI is determined by the actual geographic location and the building structure of the POI. Even if the merchant of the POI store is shifted, if the building structure of the POI is not changed, the graphic information of the corresponding POI is not changed. Therefore, after the graphic information of each POI in the indoor map is collected, the distribution structure of each POI can be displayed in the indoor map accordingly. The names of the POIs may then be further collected to display the corresponding POI name on a graphic of each POI, where the POI name actually refers to the business name of the business merchant of the POI. In practical applications, the graphic information of the POI in the indoor map is usually fixed, and the name of the POI is changed by the change of the business merchant. In the prior art, generally, a collector directly arrives at a shop area corresponding to an indoor map to collect names of POIs, and then text labeling is performed on a graph of the corresponding POI in the indoor map.

Based on the above, if the name of a POI is not identified in the indoor map or the name of the POI changes, the above-mentioned existing technical scheme of manually acquiring the name of the POI and manually labeling the name of the POI in the indoor map is adopted, which results in very low efficiency of updating the POI information in the indoor map.

[ summary of the invention ]

The invention provides a method and a device for updating point of interest information in an indoor map and a computer readable medium, which are used for improving the updating efficiency of POI information in the indoor map.

The invention provides a method for updating interest point information in an indoor map, which comprises the following steps:

acquiring photos of interest points in a building room; the photos of the interest points comprise the names of the interest points;

carrying out picture identification on the photos of the interest points to obtain names of the interest points;

acquiring the geographic coordinates of the position points of the photos of the collected interest points and the lens orientation of the photos of the collected interest points;

updating the name of the interest point to be bound with the graph information of the corresponding interest point in the indoor graph of the building according to the geographic coordinate of the position point of the photo collecting the interest point and the lens orientation of the photo collecting the interest point, so that the name of the interest point is displayed in a hanging manner on the graph when the graph of the interest point in the indoor graph is displayed.

Further optionally, in the method as described above, updating the name of the point of interest to be bound to the graph information of the corresponding point of interest in the indoor map of the building according to the geographic coordinate of the location point where the photograph of the point of interest is collected and the orientation of the lens where the photograph of the point of interest is collected, specifically including:

acquiring the collected graphic information of the interest point from the indoor map of the building according to the geographic coordinates of the position point of the photo collecting the interest point and the lens orientation of the photo collecting the interest point;

and updating the name of the interest point to the graph information binding of the interest point corresponding to the indoor graph of the building.

Further optionally, in the method as described above, after acquiring the captured graphic information of the point of interest from the indoor map of the building according to the geographic coordinates of the location point at which the photograph of the point of interest is captured and the lens orientation at which the photograph of the point of interest is captured, the method further includes, before the name of the point of interest is updated to be bound to the graphic information of the corresponding point of interest in the indoor map of the building:

judging whether the graphic information of the interest points comprises the name of one interest point;

determining that the graphical information of the point of interest does not include the name of any point of interest;

further, after determining whether the graphic information of the point of interest includes a name of the point of interest, the method further includes:

and determining that the graphic information of the interest points comprises the names of other interest points, wherein the names of other interest points are different from the names of the interest points.

Further optionally, in the method as described above, the acquiring geographic coordinates of the location point of the photograph of the collected interest point and the orientation of the lens of the photograph of the collected interest point specifically include:

acquiring geographic coordinates of position points of photos for collecting the interest points based on Tango;

and acquiring the lens orientation of the photo for acquiring the interest point based on the direction sensor.

Further optionally, in the method described above, obtaining geographic coordinates of a location point of a photograph of the point of interest based on Tango specifically includes:

acquiring an acquisition starting point marked by an acquisition person from an indoor image to be acquired and a geographic coordinate of the acquisition starting point;

taking the acquisition starting point as an origin of a reference coordinate system of the Tango, and adjusting the direction of the reference coordinate system of the Tango according to the geographical direction of the indoor map so that the direction of the reference coordinate system of the Tango is consistent with the direction of the geographical coordinate system of the indoor map;

and acquiring the geographic coordinates of the position points of the photos of the interest points in the indoor map according to the reference coordinate system of the Tango after the direction is adjusted and the geographic coordinates of the acquisition starting points.

Further optionally, in the method, adjusting the direction of the reference coordinate system of Tango according to the geographic direction of the indoor map, so that the direction of the reference coordinate system of Tango is consistent with the direction of the geographic coordinate system where the indoor map is located, specifically includes:

collecting a preset distance by taking the collection starting point as a starting point and taking the direction of one corridor in the indoor map as a collection direction to obtain a linear track under the reference coordinate system of Tango;

and adjusting the direction of the reference coordinate system of the Tango according to the actual direction of the corridor, so that the direction of the acquired straight-line track in the reference coordinate system of the Tango is consistent with the geographic direction of the corridor in the indoor map, and therefore, the direction of the reference coordinate system of the Tango is consistent with the direction of the geographic coordinate system in which the indoor map is located.

Further optionally, in the method as described above, the acquiring, according to the reference coordinate system of Tango and the geographic coordinates of the acquisition starting point after the direction is adjusted, the geographic coordinates of the location point of the photograph of the point of interest acquired in the indoor map specifically includes:

acquiring a Tango coordinate of a position point of a photo of the collected interest point in the Tango reference coordinate system after the direction is adjusted; the Tango coordinate is the displacement and the rotation angle of the corresponding acquisition point relative to the origin of the reference coordinate system of the Tango;

and acquiring the geographic coordinates of the position points of the photos of the interest points according to the Tango coordinates of the position points of the photos of the interest points and the geographic coordinates of the acquisition starting points.

The invention provides a device for updating interest point information in an indoor map, which comprises:

the photo acquisition module is used for acquiring photos of interest points in the building room; the photos of the interest points comprise the names of the interest points;

the picture identification module is used for carrying out picture identification on the photos of the interest points and acquiring the names of the interest points;

the information acquisition module is used for acquiring the geographic coordinates of the position points of the photos of the interest points and the lens orientations of the photos of the interest points;

and the updating module is used for updating the name of the interest point to be bound with the graph information of the corresponding interest point in the indoor graph of the building according to the geographic coordinate of the position point of the photo for collecting the interest point and the lens orientation of the photo for collecting the interest point, so that the name of the interest point is displayed on the graph in a hanging manner when the graph of the interest point in the indoor graph is displayed.

Further optionally, in the apparatus described above, the update module specifically includes:

the image information acquisition unit is used for acquiring the acquired image information of the interest point from the indoor image of the building according to the geographic coordinate of the position point of the acquired image of the interest point and the lens orientation of the acquired image of the interest point;

and the updating unit is used for updating the name of the interest point to the graph information binding of the interest point corresponding to the indoor graph of the building.

Further optionally, in the apparatus described above, the update module specifically further includes:

the judging unit is used for judging whether the graphic information of the interest points comprises the name of one interest point; determining that the graphic information of the interest points does not comprise the names of any interest points;

further, the determining unit is specifically configured to determine that the graphic information of the point of interest includes names of other points of interest, and the names of other points of interest are different from the name of the point of interest.

Further optionally, in the apparatus described above, the information obtaining module specifically includes:

a geographic coordinate acquisition unit for acquiring a geographic coordinate of a position point of a photograph of the point of interest based on Tango;

and the lens orientation acquisition unit is used for acquiring the lens orientation of the photo of the point of interest based on the direction sensor.

Further optionally, in the apparatus described above, the geographic coordinate obtaining unit is specifically configured to:

The present invention also provides a computer apparatus, the apparatus comprising:

one or more processors;

a memory for storing one or more programs;

the camera is used for acquiring photos of interest points in the building room;

the direction sensor is used for acquiring the orientation of a lens for acquiring the picture of the interest point; the camera and the direction sensor are respectively in communication connection with the processor so as to transmit the collected photos of the interest points and the orientation of the lens collecting the photos of the interest points to the processor;

when executed by the one or more processors, cause the one or more processors to implement the method for updating point of interest information in an indoor map as described above.

The present invention also provides a computer-readable medium, on which a computer program is stored, which when executed by a processor implements the method for updating point of interest information in an indoor map as described above.

The invention relates to a method, a device and a computer readable medium for updating interest point information in an indoor map, which are used for updating the interest point information of an indoor map by acquiring photos of POI (point of interest) in a building; the photo of the POI comprises the name of the POI; carrying out picture identification on the photo of the POI to acquire the name of the POI; acquiring the geographic coordinates of the position points of the photo of the collected POI and the lens orientation of the photo of the collected POI; updating the name of the POI to be bound with the corresponding graphic information of the POI in the indoor map of the building according to the geographic coordinates of the position point of the photo taking the POI and the lens orientation of the photo taking the POI, so that the name of the POI is hung and displayed on the graphic when the graphic of the POI in the indoor map is displayed. According to the technical scheme, the technical defect that the efficiency of updating the POI information in the indoor map manually in the prior art is low can be overcome, the POI information in the indoor map can be automatically updated, and the efficiency of updating the POI information in the indoor map can be effectively improved.

[ description of the drawings ]

Fig. 1 is a flowchart of a first embodiment of a method for updating POI information in an indoor map according to the present invention.

Fig. 2 is a flowchart of a second embodiment of the method for updating POI information in an indoor map according to the present invention.

FIG. 3 is a schematic representation of the reference coordinate system of Tango.

Fig. 4 is a configuration diagram of a first embodiment of the apparatus for updating POI information in an indoor map according to the present invention.

Fig. 5 is a structural diagram of a second embodiment of the apparatus for updating POI information in an indoor map according to the present invention.

FIG. 6 is a block diagram of an embodiment of a computer device of the present invention.

Fig. 7 is an exemplary diagram of a computer device provided by the present invention.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Tango is a new technology in the project of Augmented Reality (AR) of Google. There are 3 concepts in Tango, and 3 function modules can be correspondingly set, and which functions can be selected to be turned on by setting the corresponding fields of the TangoConfig object.

a. Mobile tracking (motion tracking)

And motion tracking means that Tango records and tracks the position of the mobile device in a 3D space, and position data comprises a place, a super-image rotation angle and the like and is reported to an application in real time.

b. Regional learning (Area learning)

Motion tracking only feeds back current coordinate information of the mobile device, there is no memory of what the device "sees", and region learning enables the mobile device to see and remember key visual features of the physical space, such as edges, corners, etc. The seen data is stored in the area learning mode, matching is carried out when the data is seen again, and errors (drift correction) are corrected by using the data, so that the track tracking and positioning are more accurate.

c. Depth Perception (Depth Perception)

Depth perception gives the device a "sense" of the distance between objects, which is achieved by unique hardware device technologies such as "structured light", "light speed time of flight TOF" and Stereo measurements.

In addition, in view of conventional positioning techniques such as GPS positioning and WIFI positioning, the accuracy is low in indoor positioning. Based on the above-described characteristics of Tango, the Tango technique can be applied to indoor positioning. The indoor positioning of Tango is a "reference positioning", i.e. a positioning relative to an "initial position", which does not involve satellite positioning. The Tango technology acquires the 'displacement' and the 'rotation angle' of the mobile device relative to the initial position according to sensors of hardware devices, such as a gravity sensor, an Inertial Measurement Unit (IMU), a gyroscope and the like, and constructs a 'reference coordinate system' by itself, so that Tango has higher positioning accuracy in the reference coordinate system of itself.

In the method for updating POI information in an indoor map of the present embodiment, the geographic coordinates of the position points of the photographs of the POI are collected, that is, the method is implemented based on the Tango technology, and reference may be made to the following description of the embodiments in detail.

Fig. 1 is a flowchart of a first embodiment of a method for updating POI information in an indoor map according to the present invention. As shown in fig. 1, the method for updating POI information in an indoor map in this embodiment may specifically include the following steps:

100. acquiring photos of POI in a building room; the photo of the POI comprises the name of the POI;

the main execution body of the method for updating the POI information in the indoor map of this embodiment is an updating apparatus of the POI information in the indoor map, and the updating apparatus of the POI information in the indoor map may be an independent electronic entity. For example, it may be a mobile device, such as a mobile phone or other mobile terminal. The updating device of the POI information in the indoor map is embedded with a camera so as to take a picture of the tag of the shop of the POI in the building room to obtain a picture of the POI including the POI name.

In the method for updating the POI information in the indoor map of the embodiment, a photographing posture may be predefined, for example, because the camera needs to be erected during photographing, the image acquisition may be realized only by being perpendicular to the ground, and the updating device for the POI information in the indoor map carrying the camera is usually not erected. Therefore, the photographing gesture can be defined as 90 degrees vertical to the ground of an updating device, namely a camera, of POI information in the indoor map. In practical application, the collecting personnel can erect the updating device of the POI information in the indoor map, so that the camera is aligned to the tag of the shop of the POI to be collected, the updating device of the POI information in the indoor map detects that the camera is in a photographing posture, the camera is started to be opened at the moment, and the photo of the POI carrying the POI name is collected. By adopting the scheme, the actions of starting and closing the camera by manual operation of collection personnel can be reduced, manual intervention is reduced, and collection efficiency is improved.

101. Carrying out picture identification on the photo of the POI to acquire the name of the POI;

the device for updating the POI information in the indoor map of the embodiment has a picture recognition function, can perform picture recognition on the collected photos of the POI to obtain the characters of the name of the POI, and the related picture recognition technology can refer to the related prior art and is not described herein again.

Further, in this embodiment, after the photo of the POI is subjected to picture recognition and the name of the POI is obtained, the method may further include broadcasting the name of the POI, and the collecting person verifies whether the recognized name of the POI is correct according to the name of the POI actually seen, and if not, the collecting person may further modify the name of the POI and use the modified name of the POI as the name of the POI subjected to picture recognition on the photo of the POI.

102. Acquiring the geographic coordinates of the position points of the photo of the collected POI and the lens orientation of the photo of the collected POI;

the updating device for the POI information in the indoor map of the embodiment can also acquire the geographic coordinates of the position point of the photo of the captured POI and the lens orientation of the photo of the captured POI. For example, the step may specifically include:

(a1) acquiring geographic coordinates of position points of a photo for collecting POI based on Tango;

(a2) the orientation of a lens used for acquiring a photo of the POI is acquired based on the direction sensor.

That is to say, the device for updating POI information in an indoor map of the present embodiment is provided with a Tango application, and based on the Tango application, the geographical coordinates of the location point of the photograph where the POI is taken can be acquired. Specifically, the location point of the photograph taking the POI is taken as an acquisition point with one Tango, and the geographic coordinates of the acquisition point can be acquired based on the Tango application. In addition, the direction sensor in the updating apparatus of POI information in the indoor map of the present embodiment may be a sensor capable of detecting a direction like an electronic compass. When the collecting personnel erects the updating device of the POI information in the indoor map and the camera is aligned to the tag of the shop of the POI to be photographed, the orientation detected by the direction sensor on the updating device of the POI information in the indoor map is the lens orientation of the photo of the POI, and the lens orientation can mark the orientation of the POI at the position point of the photo of the POI.

103. Updating the name of the POI to be bound with the corresponding graphic information of the POI in the indoor map of the building according to the geographic coordinates of the position point of the photo taking the POI and the lens orientation of the photo taking the POI, so that the name of the POI is hung and displayed on the graphic when the graphic of the POI in the indoor map is displayed.

For example, the step 103 may specifically include:

(a2) acquiring the graphic information of the shot POI from the indoor map of the building according to the geographic coordinates of the position point of the photo of the collected POI and the lens orientation of the photo of the collected POI;

(b2) and updating the name of the POI to be bound with the graphic information of the corresponding POI in the indoor map of the building.

Specifically, the updating device of the POI information in the indoor map can know the direction of the POI to be shot with respect to the current position point from the geographical coordinates of the position point at which the photograph of the POI was shot and the direction of the shot of the photograph of the POI, and can acquire which shop of the POI facing the direction of the shot of the current position point is from the indoor map, thereby acquiring the graphic information of the shop of the POI to be shot. The name of the POI is then updated to the graphical information binding with the corresponding POI in the indoor map of the building. Thus, when the graph of the POI in the subsequent indoor map is displayed, the name of the POI can be also displayed in a hanging manner on the graph of the POI.

Further optionally, after the step (a2) and before the step (b2), the following steps may be further included:

(c2) judging whether the graphic information of the POI comprises a name of the POI or not; if so, performing step (d 2); if not, the name of the POI in the original indoor map is determined to be omitted and the step (b2) is executed.

(d2) Judging whether the name of the POI included in the graphic information of the POI is the same as the name of the POI obtained in the step 101, and if the same name is determined, not executing any operation for the moment; otherwise, if the determination is different, the original POI name bound to the graphic information of the corresponding POI in the indoor map of the building is deleted, and step (b2) is performed.

According to the method for updating the POI information in the indoor map, photos of the POI in the building are collected; the photo of the POI comprises the name of the POI; carrying out picture identification on the photo of the POI to acquire the name of the POI; acquiring the geographic coordinates of the position points of the photo of the collected POI and the lens orientation of the photo of the collected POI; updating the name of the POI to be bound with the corresponding graphic information of the POI in the indoor map of the building according to the geographic coordinates of the position point of the photo taking the POI and the lens orientation of the photo taking the POI, so that the name of the POI is hung and displayed on the graphic when the graphic of the POI in the indoor map is displayed. The technical scheme of the embodiment can overcome the technical defect that the efficiency of updating the POI information in the indoor map manually in the prior art is very low, can automatically update the POI information in the indoor map, and can effectively improve the efficiency of updating the POI information in the indoor map.

Fig. 2 is a flowchart of a second embodiment of the method for updating POI information in an indoor map according to the present invention. The method for updating POI information in an indoor map in this embodiment details a specific implementation manner of the step (a1) "acquiring geographic coordinates of a location point of a photo of a captured POI based on Tango" in the embodiment shown in fig. 1 on the basis of the technical solution of the embodiment shown in fig. 1. As shown in fig. 2, in the method for updating POI information in an indoor map according to this embodiment, acquiring geographic coordinates of a location point of a photograph of a captured POI based on Tango may specifically include the following steps:

200. acquiring an acquisition starting point marked by an acquisition person from an indoor image to be acquired and a geographic coordinate of the acquisition starting point;

the device for updating POI information in an indoor map in this embodiment may specifically be a mobile device installed with a Tango application, such as a mobile phone or other mobile terminals.

In practice, an indoor map is acquired. For example, an electronic map may be embedded in a Tango application installed on the apparatus for updating POI information in the indoor map, and the indoor map to be collected may be acquired by opening the electronic map. If the indoor map to be collected is an indoor floor of a certain building, such as a first underground floor or a second underground floor, the indoor map of the corresponding floor can be opened by selecting the corresponding map layer. In the indoor map of the floor, POIs such as shops and restaurants and the road network of the floor in the room of the floor are identified. The road network of the floor refers to a network structure formed by all the corridors for the users to walk on the floor.

In this embodiment, the device for updating the POI information in the indoor map further carries a display, and after the indoor map is acquired, the acquiring person may select a point from the indoor map displayed on the display of the device for updating the POI information in the indoor map, and mark the point as the acquisition starting point. And the geographic coordinates, namely longitude and latitude coordinates, of the acquisition starting point are acquired according to the electronic map in Tango; the geographical coordinates of the acquisition origin may be obtained, for example, by GPS positioning or other related techniques. The longitude and latitude coordinates of the acquisition starting point are identified by adopting a geographic coordinate system, and the geographic coordinate system is a reference coordinate system shared all over the world and used as a reference, so that the longitude and latitude coordinates of any geographic position in the world can be identified. In the indoor positioning data acquisition, in order to facilitate identification of each acquisition point in the reference coordinate system of Tango, a point near the center position of the indoor map may be selected as an acquisition start point. Specifically, a point with obvious characteristics may be selected as the collection starting point in the indoor map, for example, a collection point of each road in a road network of the indoor map is selected as the collection starting point. However, if the acquisition starting point is located indoors in the building, the acquisition of the geographic coordinate of the acquisition starting point may be inaccurate if the geographic coordinate of the acquisition starting point is acquired by using GPS positioning. At this time, a point in the building which is not far from the entrance can be selected as the collection starting point of the label.

201. Taking the acquisition starting point as the origin of the reference coordinate system of the Tango, and adjusting the direction of the reference coordinate system of the Tango according to the geographical direction of the indoor map so that the direction of the reference coordinate system of the Tango is consistent with the direction of the geographical coordinate system in which the indoor map is located;

in this embodiment, the reference coordinate system of Tango may be constructed with the collection start point as the origin of the reference coordinate system of Tango. In a specific operation, the Tango application can be controlled to be opened at the position of the acquisition starting point, and then the position of the acquisition starting point can be taken as the origin of a reference coordinate system of the Tango. During collection, a collector can carry the POI information updating device in the indoor map to a selected collection starting point, and open the Tango application. At the moment, the updating device of the POI information in the indoor map can know that the current position selected by the acquisition personnel is the acquisition starting point, and acquires the geographic coordinate of the acquisition starting point. Then, the updating device of the POI information in the indoor map starts to acquire the indoor positioning data with the current position, i.e. the acquisition starting point, as the origin of the reference coordinate system of Tango.

Since in the reference coordinate system of Tango, the Tango coordinates of the respective acquisition points acquired are recorded with a displacement d from the origin and a rotation angle α with respect to 0 degrees. Wherein the forward direction of the y axis is 0 degree selected from 0 degree of the reference coordinate system of Tango. And when positioning by Tango, the direction acquired for the first time is taken as the direction of 0 degree, and is irrelevant to the actual geographic direction in the direction. For example, FIG. 3 is a schematic representation of Tango's reference coordinate system. As shown in fig. 3, the y-axis of the reference coordinate system of Tango is in a positive direction of 0 degree, and the clockwise direction may be selected as the positive direction of the rotation angle, and the range of the rotation angle is 0-360 degrees. Where the Tango coordinate of the point P in the reference coordinate system of Tango can be represented as (d, α), where d is the displacement of the point P from the origin O of the reference coordinate system of Tango and α is the rotation angle of OP in the 0 degree direction with respect to the reference coordinate system of Tango. The Tango coordinate of the point Q in the reference coordinate system of Tango may be represented as (d ', β), d' being a displacement of the point Q from the origin O of the reference coordinate system of Tango, and β being a rotation angle of OQ in the 0-degree direction with respect to the reference coordinate system of Tango.

In this embodiment, the 0 degree direction in the reference coordinate system of Tango may be the direction acquired for the first time after the Tango application is opened by the updating apparatus of POI information in the indoor map, and has no relation with the geographical direction of the actual indoor map. In this embodiment, in order to collect indoor positioning data by using Tango, the direction of the reference coordinate system of Tango may be adjusted according to the geographical direction of the indoor map, so that the direction of the reference coordinate system of Tango is consistent with the direction of the geographical coordinate system in which the indoor map is located.

For example, the step 201 may specifically include the following steps:

(a3) collecting a preset distance by taking the collection starting point as a starting point and the direction of one corridor in the indoor map as a collection direction to obtain a linear track under a Tango reference coordinate system;

(b3) and adjusting the direction of the reference coordinate system of the Tango according to the actual direction of the corridor, so that the direction of the acquired straight-line track in the reference coordinate system of the Tango is consistent with the geographical direction of the corridor in the indoor map, and the direction of the reference coordinate system of the Tango is consistent with the geographical coordinate system of the indoor map.

The selected indoor map in this embodiment is an indoor map in an electronic map, and directions in the electronic map are identified according to a geographic coordinate system. Thus, from the indoor map, the direction of each corridor in the indoor map can be known. In this embodiment, the collection starting point may be used as a starting point, the direction of one corridor in the indoor map is selected as a collection direction from around the starting point, and the updating device for controlling the POI information in the indoor map collects a preset distance, for example, only 5 to 6 meters may be collected, and the collection direction may be determined, so that a section of straight line trajectory in the reference coordinate system of Tango may be obtained. According to the strategy of Tango, at the moment, the linear track is a track in the first direction acquired by opening the application of the Tango, the linear track is positioned on the positive direction of the y axis, one end of the linear track is positioned at the original point of the reference coordinate system of the Tango, the other end of the linear track is positioned at the position which is away from the original point in the positive direction of the y axis by a preset distance, and the rotating angle corresponding to the linear track is 0 degree. Whereas, according to the geographical coordinate system of the electronic map, the y-axis forward direction generally represents a direction north in the geographical direction. Whereas in Tango's reference frame, the straight-line trajectory does not identify a direction. At this time, the direction of the reference coordinate system of Tango can be adjusted according to the actual direction of the corridor direction, so that the direction of the acquired straight-line track in the reference coordinate system of Tango is consistent with the geographical direction of the corridor in the indoor map. For example, if the corridor is oriented to the east, and correspondingly the y-axis of the straight-line trajectory is oriented to the right in the geographic coordinate system of the electronic map, the reference coordinate system of Tango may be rotated clockwise by 90 degrees, and the direction of the collected straight-line trajectory in the reference coordinate system of Tango is consistent with the geographic direction of the corridor in the indoor map, so that the direction of the reference coordinate system of Tango is consistent with the direction of the geographic coordinate system of the indoor map.

In this embodiment, no matter the selected corridor is oriented in the east, south, west or north positive direction or in an included angle between the two positive directions, the direction of the reference coordinate system of Tango can be adjusted according to the actual direction of the corridor, so that the direction of the collected straight-line trajectory in the reference coordinate system of Tango is consistent with the geographical direction of the corridor in the indoor map,

202. and acquiring the geographic coordinates of the position points of the photo of the POI acquired in the indoor map according to the reference coordinate system of the Tango after the direction is adjusted and the geographic coordinates of the acquisition starting points.

In this embodiment, the direction of the adjusted Tango reference coordinate system is consistent with the direction of the actual geographic coordinate system, and the mapping relationship between the Tango coordinate of each position point in the Tango reference coordinate system and the corresponding geographic coordinate can be deduced according to the Tango coordinate of the origin of the adjusted Tango reference coordinate system and the geographic coordinate of the origin, so that the geographic coordinate of the position point of the photo of the POI shot in the indoor map can be obtained in the Tango reference coordinate system.

For example, the step 202 may specifically include the following steps:

(a4) acquiring a Tango coordinate of a position point of a photo for shooting the POI in a Tango reference coordinate system after the direction is adjusted; the Tango coordinate is the displacement and the rotation angle of the corresponding acquisition point relative to the origin of the reference coordinate system of the Tango;

(b4) and acquiring the geographic coordinates of the position points of the photos of the POI according to the Tango coordinates of the position points of the photos of the POI and the geographic coordinates of the acquisition starting points.

For example, the indoor map in the present embodiment is drawn in advance in accordance with the indoor layout of a building on an electronic map. The road network formed by the corridors for the user to walk in the building is represented in the corresponding indoor map. The indoor positioning data of this embodiment can only be fixed a position to the corridor in the indoor picture, like this, when gathering indoor positioning data, can only set for the track of gathering according to the road network in the indoor picture. Since each POI in the indoor map is located on both sides of the road network, i.e., the capturing track, the position points of the photo taking the POI in the present embodiment are located on the capturing track.

In the acquisition of the Tango technology, the updating device of the POI information in the indoor map can be sent from the acquisition starting point and acquired along the acquisition track. In practical application, an acquisition point is selected at a certain distance interval along the acquisition track. The Tango coordinates of each acquisition point, i.e., the displacement and rotation angle relative to the origin of the Tango's reference coordinate system, can then be identified in the directionally adjusted Tango's reference coordinate system. The distance interval here is related to the required density of the acquisition points, for example, the distance interval may be any one distance value between 0.2m and 1m, or other distance values may be selected according to actual requirements. The distance intervals between adjacent acquisition points may be the same or different. However, the collection point contributing to the update of the POI information in the indoor map in this embodiment is only the location point where the photograph of the POI is collected, and the information of other collection points may not focus attention. Therefore, in this embodiment, when the updating device of the POI information in the indoor map detects the photographing gesture, the photo collection module, i.e., the camera, is started to take a photo, and simultaneously the photographing timestamp is recorded, and the position point of the photo of the POI and the collected timestamp are collected; the collected time stamp is the same as the time stamp of photographing, so that the corresponding relation between the collected photo and the information of the collected position point can be established. The Tango coordinates of the acquisition point, i.e. the displacement and rotation angle relative to the origin of the Tango reference coordinate system, are then identified in the orientation adjusted Tango reference coordinate system.

In this embodiment, the adjusted Tango reference coordinate system and the actual geographic coordinate system have the same direction, but different origins. At this time, since the acquisition starting point is known as the origin of the reference coordinate system of Tango, that is, the Tango coordinate (0,0) of the origin of the reference coordinate system of Tango and the longitude and latitude coordinates, that is, the geographic coordinates, that is, the longitude and latitude coordinates, respectively, are known, it is possible to acquire the Tango coordinate of the position point of the photograph of the captured POI in the reference coordinate system of Tango, for example, the Tango coordinate of a certain position point is (d, α), that is, the position point is a position extending the origin outward by a displacement d, and rotate the angle α in the rotation direction. According to such a mapping relationship, the geographical coordinates of the origin can be extended outward by the displacement d in the same manner, and the geographical coordinates of the position point of the photograph where the POI is taken can be mapped by rotating the angle α with respect to the origin along the rotation direction. By adopting the method, the geographic coordinates of the position points of each photo for shooting the POI in the indoor map can be acquired, and the POI information in the indoor map is updated by adopting the method of the embodiment.

It should be noted that, when the updating device of the POI information in the indoor map starts from the collection starting point and collects the positioning data along the collection track, the collection person can walk along the collection track with the updating device of the POI information in the indoor map, so that the updating device of the POI information in the indoor map collects the geographic coordinates of the position point of all the photos of the POI taken in the collection track. Or the updating device of the POI information in the indoor map can be controlled to automatically move along the acquisition track, so that the geographic coordinates of the position point of all the pictures of the POI in the acquisition track can be acquired.

The method for updating the POI information in the indoor map of the embodiment is based on the Tango technology to acquire the geographic coordinates of the position points of the photo of the shot POI, can improve the accuracy of the geographic coordinates of the position points of the photo of the shot POI in the indoor, and can automatically and effectively update the POI information in the indoor map based on the very accurate geographic coordinates, thereby effectively improving the updating efficiency of the POI information in the indoor map.

Fig. 4 is a configuration diagram of a first embodiment of the apparatus for updating POI information in an indoor map according to the present invention. As shown in fig. 4, the apparatus for updating POI information in an indoor map in this embodiment may specifically include: the system comprises a photo acquisition module 10, a picture recognition module 11, an information acquisition module 12 and an update module 13.

The photo collection module 10 is used for collecting photos of POI in the building room; the photo of the POI comprises the name of the POI; the photo capture module 10 may be implemented, for example, using a camera.

The picture identification module 11 is used for carrying out picture identification on the POI pictures collected by the picture collection module 10 to obtain the names of the POI;

the information acquisition module 12 is configured to acquire the geographic coordinates of the position points of the photo of the POI acquired by the photo acquisition module 10 and the lens orientation of the photo of the POI acquired;

the updating module 13 is configured to update the name of the POI identified by the picture identifying module 11 to be bound with the graphic information of the corresponding POI in the indoor map of the building according to the geographic coordinate of the position point of the photo of the POI acquired by the photo acquiring module 10 acquired by the information acquiring module 12 and the lens orientation of the photo of the POI acquired by the photo acquiring module 10, so that when the graphic of the POI in the indoor map is displayed, the name of the POI is displayed in a hanging manner on the graphic.

The implementation principle and technical effect of the apparatus for updating the POI information in the indoor map by using the module are the same as those of the related method embodiment, and reference may be made to the description of the related method embodiment in detail, which is not repeated herein.

Fig. 5 is a structural diagram of a second embodiment of the apparatus for updating POI information in an indoor map according to the present invention. As shown in fig. 5, the apparatus for updating POI information in an indoor map according to the present embodiment further describes the technical solution of the present invention in more detail based on the technical solution of the embodiment shown in fig. 4.

As shown in fig. 5, in the apparatus for updating POI information in an indoor map of this embodiment, the updating module 13 specifically includes:

the graphic information acquisition unit 131 is configured to acquire the graphic information of the captured POI from the indoor map of the building according to the geographic coordinates of the position point of the photo of the captured POI acquired by the information acquisition module 12 and the lens orientation of the photo of the captured POI;

the updating unit 132 is configured to update the name of the POI identified by the picture identification module 11 to the graphic information binding of the POI corresponding to the indoor map of the building acquired by the graphic information acquiring unit 131.

Further optionally, as shown in fig. 5, in the apparatus for updating POI information in an indoor map of this embodiment, the updating module 13 specifically further includes:

the judging unit 133 is configured to judge whether the graphic information of the POI acquired by the graphic information acquiring unit 131 includes a name of the POI; determining that the graphic information of the POI does not include any POI name; the updating unit 132 is then triggered to update the name of the POI identified by the picture identification module 11 to the graphic information binding of the POI corresponding to the indoor map of the building acquired by the graphic information acquiring unit 131.

Further, the determining unit 133 is further specifically configured to determine that the graphic information of the POI acquired by the graphic information acquiring unit 131 includes names of other POIs, and the names of other POIs are different from the names of the POIs; the updating unit 132 is then triggered to update the name of the POI identified by the picture identification module 11 to the graphic information binding of the POI corresponding to the indoor map of the building acquired by the graphic information acquiring unit 131.

Further optionally, as shown in fig. 5, in the apparatus for updating POI information in an indoor map of this embodiment, the information collecting module 12 specifically includes:

the geographic coordinate acquiring unit 121 is configured to acquire a geographic coordinate of a position point of a photo of the POI acquired by the photo acquiring module 10 based on Tango; for example, the geographic coordinate acquisition unit 121 may be implemented using a Tango application.

The lens orientation acquiring unit 122 is configured to acquire the lens orientation of the photograph of the captured POI captured by the photograph capturing module 10 based on the orientation sensor. For example, the lens orientation acquisition unit 122 may be implemented by using a direction sensor similar to an electronic compass.

Correspondingly, the graphic information acquiring unit 131 is configured to acquire the graphic information of the captured POI from the indoor map of the building according to the geographic coordinates of the position point of the photograph of the captured POI acquired by the geographic coordinate acquiring unit 121 and the lens orientation of the photograph of the captured POI acquired by the lens orientation acquiring unit 122.

Further optionally, in the apparatus for updating POI information in an indoor map of this embodiment, the geographic coordinate obtaining unit 121 is specifically configured to:

taking the acquisition starting point as the origin of the reference coordinate system of the Tango, and adjusting the direction of the reference coordinate system of the Tango according to the geographical direction of the indoor map so that the direction of the reference coordinate system of the Tango is consistent with the direction of the geographical coordinate system in which the indoor map is located;

and acquiring the geographic coordinates of the position points of the photo of the POI in the indoor map according to the reference coordinate system of the Tango after the direction is adjusted and the geographic coordinates of the acquisition starting points.

collecting a preset distance by taking the collection starting point as a starting point and the direction of one corridor in the indoor map as a collection direction to obtain a linear track under a Tango reference coordinate system;

and adjusting the direction of the reference coordinate system of the Tango according to the actual direction of the corridor, so that the direction of the acquired straight-line track in the reference coordinate system of the Tango is consistent with the geographical direction of the corridor in the indoor map, and the direction of the reference coordinate system of the Tango is consistent with the geographical coordinate system of the indoor map.

acquiring a Tango coordinate of a position point of a photo for shooting the POI in a Tango reference coordinate system after the direction is adjusted; the Tango coordinate is the displacement and the rotation angle of the corresponding acquisition point relative to the origin of the reference coordinate system of the Tango;

and acquiring the geographic coordinates of the position points of the photos of the POI according to the Tango coordinates of the position points of the photos of the POI and the geographic coordinates of the acquisition starting points.

FIG. 6 is a block diagram of an embodiment of a computer device of the present invention. As shown in fig. 6, the computer device of the present embodiment includes: one or more processors 30, and a memory 40, a camera 50, and an orientation sensor 60, the memory 40 for storing one or more programs; the camera 50 is used for acquiring photos of POI in the building room; the direction sensor 60 is used to acquire the lens orientation of the photograph from which the POI is captured; the camera 50 and the direction sensor 60 are respectively in communication connection with the processor 30 to transmit the captured photograph of the POI and the lens orientation of the captured photograph of the POI to the processor 30; when the one or more programs stored in the memory 40 are executed by the one or more processors 30, the one or more processors 30 implement the method for updating POI information in indoor views as described above in the embodiments of fig. 1-3, in conjunction with the captured photograph of a POI transmitted by the camera 50 and the lens orientation of the captured photograph of a POI transmitted by the orientation sensor 60. The direction sensor 60 in the computer device of the present embodiment may employ a sensor capable of identifying a direction, such as an electronic compass. The embodiment shown in fig. 6 is exemplified by including a plurality of processors 30. For example, the computer device of this embodiment may be a mobile device such as a mobile phone with a camera, an electronic compass, and a Tango application.

For example, fig. 7 is an exemplary diagram of a computer device provided by the present invention. FIG. 7 illustrates a block diagram of an exemplary computer device 12a suitable for use in implementing embodiments of the present invention. The computer device 12a shown in fig. 7 is only an example and should not bring any limitation to the function and the scope of use of the embodiments of the present invention.

As shown in FIG. 7, computer device 12a is in the form of a general purpose computing device. The components of computer device 12a may include, but are not limited to: one or more processors 16a, a system memory 28a, and a bus 18a that connects the various system components (including the system memory 28a and the processors 16 a).

Bus 18a represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 12a typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12a and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28a may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30a and/or cache memory 32 a. Computer device 12a may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34a may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, and commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18a by one or more data media interfaces. System memory 28a may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of the various embodiments of the invention described above in fig. 1-5.

A program/utility 40a having a set (at least one) of program modules 42a may be stored, for example, in system memory 28a, such program modules 42a including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. Program modules 42a generally perform the functions and/or methodologies described above in connection with the various embodiments of fig. 1-5 of the present invention.

Computer device 12a may also communicate with one or more external devices 14a (e.g., keyboard, pointing device, display 24a, etc.), with one or more devices that enable a user to interact with computer device 12a, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12a to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22 a. Also, computer device 12a may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet) through network adapter 20 a. As shown, network adapter 20a communicates with the other modules of computer device 12a via bus 18 a. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12a, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processor 16a executes programs stored in the system memory 28a to execute various functional applications and data processing, for example, to implement the method for updating the point of interest information in the indoor map shown in the above embodiment.

The present invention also provides a computer-readable medium, on which a computer program is stored, which when executed by a processor, implements the method for updating point of interest information in an indoor map as shown in the above embodiments.

The computer-readable media of this embodiment may include RAM30a, and/or cache memory 32a, and/or storage system 34a in system memory 28a in the embodiment illustrated in fig. 7 described above.

With the development of technology, the propagation path of computer programs is no longer limited to tangible media, and the computer programs can be directly downloaded from a network or acquired by other methods. Accordingly, the computer-readable medium in the present embodiment may include not only tangible media but also intangible media.

The computer-readable medium of the present embodiments may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A method for updating interest point information in an indoor map is characterized by comprising the following steps:

2. The method according to claim 1, wherein updating the name of the point of interest to a graph information binding with a corresponding point of interest in the indoor map of the building according to the geographic coordinates of the location point where the photograph of the point of interest was taken and the orientation of the lens where the photograph of the point of interest was taken comprises:

3. The method of claim 2, wherein after acquiring the captured graphic information of the point of interest from the indoor map of the building according to the geographic coordinates of the location point of the photo of the point of interest and the orientation of the lens of the photo of the point of interest, the method further comprises updating the name of the point of interest to the point of interest corresponding to the graphic information of the point of interest in the indoor map of the building before binding the name of the point of interest to the graphic information of the corresponding point of interest:

and determining that the names of other interest points are included in the graphic information of the interest points, wherein the names of the other interest points are different from the names of the interest points.

4. The method according to any one of claims 1 to 3, wherein obtaining the geographic coordinates of the location point where the photograph of the point of interest was taken and the orientation of the lens where the photograph of the point of interest was taken comprises:

5. The method according to claim 4, wherein obtaining geographic coordinates of a location point of a photograph from which the point of interest was captured based on Tango comprises:

6. The method according to claim 5, wherein adjusting the orientation of the reference coordinate system of Tango according to the geographic orientation of the indoor map so that the orientation of the reference coordinate system of Tango coincides with the orientation of the geographic coordinate system of the indoor map comprises:

7. The method according to claim 5, wherein the step of acquiring the geographic coordinates of the position point of the photo of the point of interest in the indoor map according to the reference coordinate system of Tango after the direction adjustment and the geographic coordinates of the acquisition starting point comprises:

8. An apparatus for updating point of interest information in an indoor map, the apparatus comprising:

9. The apparatus according to claim 8, wherein the update module specifically includes:

10. The apparatus according to claim 9, wherein the update module further includes:

further, the determining unit is specifically further configured to determine that the graphic information of the point of interest includes names of other points of interest, and the names of other points of interest are different from the name of the point of interest.

11. The apparatus according to any one of claims 8 to 10, wherein the information obtaining module specifically includes:

12. The apparatus according to claim 11, wherein the geographic coordinate obtaining unit is specifically configured to:

13. The apparatus according to claim 12, wherein the geographic coordinate obtaining unit is specifically configured to:

14. The apparatus according to claim 12, wherein the geographic coordinate obtaining unit is specifically configured to:

15. A computer device, the device comprising:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.

16. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.