CN111380537A - Method and device for positioning target position in navigation map - Google Patents
Method and device for positioning target position in navigation map Download PDFInfo
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- CN111380537A CN111380537A CN201811612580.4A CN201811612580A CN111380537A CN 111380537 A CN111380537 A CN 111380537A CN 201811612580 A CN201811612580 A CN 201811612580A CN 111380537 A CN111380537 A CN 111380537A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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Abstract
The application relates to a method for locating a target position in a navigation map, the method comprising: respectively acquiring at least one reference map image and a reference position in the reference map image; searching a target map image matched with the reference map image in the navigation map; according to the positioning of the reference position in at least one reference map image, in the target map image, the target position matching the reference position is correspondingly positioned. The method achieves the purpose of obtaining the corresponding target position in the navigation map according to the reference position in the reference map image, and particularly achieves the purpose of searching the target position corresponding to the reference position in the navigation map through the method when the reference position is the position in a paper map or other map application programs, so that the navigation efficiency is improved, and the travel efficiency is improved. The application also relates to an apparatus, a computer device and a computer readable storage medium for locating a target position in a navigation map.
Description
Technical Field
The present application relates to the field of navigation positioning technologies, and in particular, to a method and an apparatus for positioning a target location in a navigation map, a computer device, and a computer-readable storage medium.
Background
The navigation technology is a novel technology developed on the basis of a global satellite positioning system, and can provide convenience for travel activities of users in various aspects such as life, work and the like.
Navigation technology is applicable to many fields, such as vehicle navigation systems in the automotive field. The navigation system may recommend one or more routes for the user to refer to based on the user's origin and destination. In daily life, people also rely more on navigation systems when going out in order to reach destinations quickly and conveniently. However, if the travel destination of the user cannot be input into the navigation system, at this time, the user cannot obtain the navigation route from the current position to the travel destination, for example, the travel destination of the user is a destination on a paper map or a destination on another map application, and since the user cannot determine the position of the destination, the navigation system cannot plan the navigation route to the destination, thereby causing great troubles to the user.
Therefore, it is desirable to provide a more efficient and convenient navigation technique.
Disclosure of Invention
In view of the above, it is necessary to provide a method and apparatus, a computer device and a computer readable storage medium for locating a target position in a navigation map.
A method for locating a target location in a navigation map, the method comprising:
respectively acquiring at least one reference map image and a reference position in the reference map image;
searching a navigation map for a target map image matching the reference map image;
and correspondingly positioning a target position matched with the reference position in the target map image according to the positioning of the reference position in the at least one reference map image.
An apparatus for locating a target location in a navigation map, comprising:
the reference data acquisition module is used for respectively acquiring at least one reference map image and a reference position in the reference map image;
the target image determining module is used for searching a target map image matched with the reference map image in the navigation map;
and the target position determining module is used for correspondingly positioning the target position matched with the reference position in the target map image according to the positioning of the reference position in the at least one reference map image.
A computer device comprising a memory storing a computer program and a processor implementing the steps of any of the methods described above when the processor executes the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any of the above.
The method and the device for locating the target position in the navigation map, the computer equipment and the computer readable storage medium search the target map image matched with the reference map image in the navigation map by respectively obtaining at least one reference map image and the reference position located in the reference map image, and correspondingly locate the target position matched with the reference position in the target map image according to the location of the reference position in the at least one reference map image. Therefore, the purpose of obtaining the corresponding target position in the navigation map according to the reference position in the reference map image is achieved, and particularly when the reference position is a position in a paper map or other map application programs, the purpose of finding the target position corresponding to the reference position in the navigation map is achieved through the method and the device for positioning the target position in the navigation map, the computer device and the computer readable storage medium, so that the navigation efficiency is improved, the travel efficiency is improved, and the travel experience of a user is improved.
Drawings
FIG. 1 is a diagram of an application environment for a method for locating a target location in a navigation map in one embodiment;
FIG. 2 is a schematic flow chart diagram illustrating a method for locating a target location in a navigational map, in one embodiment;
FIG. 3 is a schematic flow chart diagram illustrating a method for locating a target location in a navigational map in accordance with another embodiment;
FIG. 4 is a complementary flow diagram for determining a location of a target in one embodiment;
FIG. 5 is a complementary flow diagram for determining a target map image in one embodiment;
FIG. 6 is a block diagram of a device for locating a target location in a navigation map in one embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, the method for locating a target position in a navigation map provided by the present application can be applied to an application environment as shown in fig. 1. The application environment includes a device 100 for locating a target position in a navigation map, an image capturing device 200, and a reference map (e.g., a paper map) 300. It should be clear that, for the sake of convenience of description, the "means for locating a target position in a navigation map" will be simply referred to as "locating means" hereinafter, and it is understood that "locating means" described hereinafter refers to "means for locating a target position in a navigation map". Specifically, the image pickup device 200 acquires, for example, an image of the paper map 300 as a reference map image. The positioning apparatus 100 acquires the reference map image from the image pickup apparatus 200 and searches for a target map image matching the reference map image in the navigation map. After the target map image is successfully matched, the positioning apparatus 100 acquires the reference position in the reference map image again, and acquires the target position matched with the reference position in the target map image. Therefore, the purpose of searching the target position corresponding to the reference position in the paper map in the navigation map is achieved, and the navigation efficiency is improved. In another embodiment, the method for locating the target position in the navigation map provided by the present application can also be applied to another application environment, wherein the application environment includes the positioning apparatus 100, the image capturing apparatus 200 and an electronic map displayed on at least one mobile device (i.e. referring to another example of the map, not shown). In this embodiment, the connection relationship and the data transmission relationship of each hardware unit are similar to those in the foregoing embodiments, and the technical solution of the application environment may be understood with reference to the foregoing embodiments, which are not described herein again.
The positioning apparatus 100 may be provided in a cloud server (Online server). The positioning device 100 may be a personal computer, a notebook computer, a smart phone, a tablet computer, or a portable wearable device, or may be a device in a vehicle, such as a central control device, a driving assistance device, a car machine, or a navigation device.
As an embodiment, the positioning device 100 and the image capturing device 200 may be installed in a vehicle. Of course, the positioning device 100 and the image capturing device 200 may be installed in other positions than the vehicle as long as the functions of the devices are realized. The devices may communicate with each other in a wired or wireless manner. The method and the device achieve the purpose of searching the target position corresponding to the reference position in the paper map in the vehicle navigation map, and improve the navigation efficiency of the vehicle.
In one embodiment, as shown in fig. 2, a method for locating a target position in a navigation map is provided, which is illustrated by applying the method to the apparatus for locating a target position in a navigation map in fig. 1, i.e. a locating apparatus, for example, the method includes the following steps:
s202, at least one reference map image and a reference position in the reference map image are respectively obtained.
The reference map image refers to an image that is distinguished from other maps of the navigation map, and for example, the reference map image may be an image of a paper map or an image in other map applications. Wherein the reference location comprises a destination in the reference map image, which may be a destination that the user wants to reach.
Specifically, the positioning device acquires at least one reference map image and a reference position located in the reference map image, respectively. In the reference map image, the reference position may be acquired by capturing an image of a position pointed by a finger of the user by the image capturing device. In the image, the positioning device acquires the position of the user's fingertip, and takes the position as a reference position in the reference map image. In another alternative embodiment, the reference position may be a position previously marked in the reference map image by the user with a mark. The image acquisition device acquires an image containing the position. The positioning device acquires the position with the mark in the image as a reference position in the reference map image.
Optionally, in an embodiment, after the positioning device successfully matches to the target map image in the navigation map, the positioning device acquires the reference position in the reference map image.
And S204, searching a target map image matched with the reference map image in the navigation map.
The navigation map refers to a map in a navigation system, and for example, may be a map in a vehicle navigation system, that is, a vehicle navigation map, or a map in a mobile phone navigation system. The target map image refers to an image that matches the reference map image in the navigation map. In one embodiment, if the target map image is an image in the navigation map of the vehicle a, the reference map image may be an image in the navigation map of the vehicle B or a map on the mobile device.
Specifically, the image capture device captures a reference map image of the other map. The positioning device acquires the reference map image and searches the target map image matched with the reference map image in the navigation map. The matching between the target map image and the reference map image may mean that the target map image and the reference map image contain the same map image, or that the target map image at least contains an image in the reference map image. In other words, as long as the reference map image is a sub-image of the target map image, the target map image can be considered to match the reference map image.
Alternatively, the image capture device may be a camera that may be mounted in a dashboard facing the user, or in a central console area (such as a navigation screen).
S206, correspondingly positioning a target position matched with the reference position in the target map image according to the positioning of the reference position in the at least one reference map image.
Wherein the target position refers to a destination in the navigation map that matches the reference position. It will be appreciated that the target location and the reference location refer to the same location on different maps, i.e. correspond to the same geographical location coordinates.
Specifically, the positioning device acquires a target position matching the reference position in the target map image according to the positioning of the reference position in at least one reference map image.
The method for positioning the target position in the navigation map searches the target map image matched with the reference map image in the navigation map by respectively acquiring the at least one reference map image and the reference position in the reference map image, and correspondingly positions the target position matched with the reference position in the target map image according to the positioning of the reference position in the at least one reference map image. Therefore, the purpose of obtaining the corresponding target position in the navigation map according to the reference position in the reference map image is achieved, and particularly when the reference position is a position in a paper map or other map application programs, the purpose of finding the target position corresponding to the reference position in the navigation map is achieved through the method and the device for positioning the target position in the navigation map, the computer device and the computer readable storage medium, so that the navigation efficiency is improved, the travel efficiency is improved, and the travel experience of a user is improved.
Optionally, in an embodiment, taking a car navigation system as an example, the user may manually trigger the method through a button or a touch screen or voice operation, or automatically trigger the method if the camera in the car detects that a static object is placed in front of the camera (instead of the background inside the car), so that the camera collects the reference map image. In another embodiment, the reference map image may be obtained by setting a fixed area, and guiding the user to align another reference map or device with the fixed area to obtain the reference map image.
Further, in one embodiment, please refer to FIG. 3, which relates to planning a navigation route from a current location to a target location. Specifically, the method further comprises the following steps:
s212, acquiring a current position;
s214, planning a navigation route from the current position to the target position according to the current position and the target position.
Specifically, the positioning device may acquire a current position of the target object, which may be a starting point. The positioning device may use the target position as a destination to plan a navigation route from the current position to the target position according to the current position and the target position.
As an embodiment, the positioning device may obtain a current position of the vehicle through the vehicle navigation system, and plan a navigation route from the current position to a target position in the vehicle navigation map by taking the current position of the vehicle as a starting point and taking the target position as a terminal point. Thus, the user can drive the vehicle to the desired destination according to the navigation route.
In one embodiment, please refer to FIG. 4, which relates to how the target location is determined. Specifically, the method further comprises the following steps:
s222, acquiring a first position in the reference map image;
s224, calculating a relative position of the reference position with respect to the first position;
s226, acquiring a second position matched with the first position in the navigation map;
s228, positioning the target position in the target map image according to the relative position and the second position.
Wherein the first location matches the second location. It is understood that the first location and the second location refer to the same geographic location on different maps. Alternatively, the first position may be preset, for example, a certain coordinate point; it may also be determined based on a preset condition, such as the intersection of diagonal lines in the reference map image. Alternatively, the first position and the second position may both be represented by coordinates.
Specifically, the positioning device acquires a first position in the reference map image, and calculates a relative position of the reference position with respect to the first position, wherein the relative position may be a straight-line distance between the two positions. Meanwhile, the positioning device acquires a second position matched with the first position in the navigation map. Alternatively, the second position may be determined by an image matching technique, or may be determined by a size scale. The positioning device can calculate the target position in the target map image according to the relative position and the second position.
As an alternative, the first position may be the coordinates of a first center point in the reference map image, and correspondingly, the second position is also the coordinates of a second center point in the target map image. The positioning device calculates the distance between the coordinates of the reference position and the coordinates of the first central point, and calculates the coordinates of the target position according to the distance and the coordinates of the second central point, thereby obtaining the accurate position of the target position.
Optionally, in one embodiment, a process of rechecking the target location is involved. Specifically, the method further comprises:
s232, checking the target position and judging whether the target position is correct or not;
and S234, if the target position is judged to be correct, outputting the target position.
Specifically, in step S208, the positioning device has obtained the target position in the target map image. In this embodiment, the positioning device checks the target position again to determine whether the target position is correct. And if the target position is judged to be correct, outputting the target position. Alternatively, the output means may be displayed to the user via an in-vehicle display. If the target position is judged to be wrong, searching the target position again through an image matching technology; or terminating the output of the target location and sending a reminder to the user. By again checking the target position, the accuracy of the target position is improved.
Alternatively, the positioning device may again verify that the target position is correct by means of image matching techniques. In particular, the positioning device defines a scanning area around the target position, which may be of any shape, such as square or circular. The positioning device can utilize the image recognition selection frame to scan in the scanning area, and the matching is carried out according to the scanning result and the reference position. And if the target position and the reference position are determined to be one position or the similarity is extremely high, judging that the target position is correct.
In one embodiment, a process for determining a reference map image is involved. Specifically, the method further comprises the following steps:
s242, acquiring image information;
s244, extracting map feature information in the image information;
s246, determining the reference map image according to the map feature information.
The map feature information refers to information representing a map, and may include features such as map color and shape.
Specifically, the image capturing device captures specified image information, which includes a captured image. The positioning device acquires the image information, and extracts the map characteristic information in the image information by adopting an image recognition technology so as to determine a map part in the acquired image as a reference map image. By distinguishing map parts and non-map parts in the acquired images, the matching accuracy of the target map images can be improved.
In one embodiment, please refer to FIG. 5, which relates to a specific process of determining a target map image. Specifically, S204 includes the steps of:
s2042, acquiring a search starting position in the navigation map;
s2044, acquiring at least one image recognition selection frame matched with the size of the reference map image;
and S2046, starting from the search starting position, scanning the navigation map through the at least one image recognition selection frame to obtain the target map image.
Specifically, after obtaining the reference map image, the positioning device determines a search start position in the navigation map, and obtains at least one image recognition selection frame matched with the size of the reference map image. Furthermore, the positioning device scans the navigation map through the at least one image recognition selection frame from the search starting position, and determines a target map image according to the scanning result.
Alternatively, taking the car navigation system as an example, the search starting position may be the current vehicle position, and the positioning device scans the image recognition selection frame within N meters around the current vehicle position, where N may be a value different from 100 to 10,000. The search starting position may also be a position input by the user, such as the Beijing Huairou region, and the positioning apparatus scans with the image recognition selection box within a range of N meters centered on the central point of the Beijing Huairou region, where N may be a different value from 100 to 10,000.
Alternatively, the image recognition selection box matching the reference map image size may be an image recognition selection box of the same size (size) as the reference map image.
Alternatively, the image recognition selection frame may be scanned by a progressive scanning or an interlaced scanning, or may be scanned by a vertical scanning. Progressive scanning refers to continuous scanning of an image line by line through an image recognition selection box. Interlaced scanning refers to scanning an image with an image recognition selection frame in two fields, in which the first field (odd field) scans only odd lines, sequentially scanning 1, 3, and 5 … lines, and the second field (even field) scans only even lines, sequentially scanning 2, 4, and 6 … lines. The interlaced scanning technique plays a significant role in situations where the bandwidth of the transmitted signal is insufficient.
As an alternative embodiment, the positioning apparatus uses the current vehicle position as a search starting position, acquires an image recognition selection frame having the same size as the reference map image, and performs scanning within a range of N meters centered on the current vehicle position according to the current vehicle position and the image recognition selection frame, thereby obtaining the target map image.
In one of the embodiments, a further complementary process involving determining a target map image. Specifically, S2046 includes the steps of:
s2046a, scanning the navigation map through the at least one image recognition selection box to obtain at least one scanned image;
s2046b, extracting a feature vector corresponding to each of the scanned images, and matching the feature vectors with feature vectors of the reference map image, respectively, to obtain a plurality of matching scores;
s2046c, if there is a matching score greater than a preset threshold in the plurality of matching scores, outputting a scanned image corresponding to the matching score greater than the preset threshold as the target map image.
Wherein the feature vector comprises one or more of a color feature, a texture feature, and a shape feature. A color feature is a global feature that describes the surface properties of a scene to which an image or image region corresponds. Texture features are also global features, which also describe surface properties of scenes corresponding to images or image regions, and unlike color features, texture features are not based on pixel point features, which require statistical computation in regions containing multiple pixel points. The shape features are represented in two types, one is outline features, the other is region features, the outline features of the image mainly aim at the outer boundary of the object, and the region features of the image are related to the whole shape region.
Specifically, the positioning device scans the navigation map through at least one image recognition selection frame to obtain at least one scanned image. And then the positioning device extracts the characteristic vector corresponding to each scanned image, and the characteristic vectors are respectively matched with the characteristic vectors of the reference map image to obtain a plurality of matching scores. If the matching score of the feature vector corresponding to the scanned image and the feature vector of the reference map image after matching is larger than a preset threshold value, for example, the preset threshold value is 90%, the positioning device outputs the scanned image corresponding to the matching score larger than the preset threshold value as the target map image. Otherwise, the positioning device outputs failure prompt information.
As another embodiment, the target map image is determined using another determination method. Specifically, the method comprises the following steps:
s2046a, scanning the navigation map through the at least one image recognition selection box to obtain at least one scanned image;
s2046b, extracting a feature vector corresponding to each of the scanned images, and matching the feature vectors with feature vectors of the reference map image, respectively, to obtain a plurality of matching scores;
s2046d, if only one of the matching scores is greater than a preset threshold, outputting a scanned image corresponding to the matching score greater than the preset threshold as the target map image.
In one embodiment, as shown in fig. 6, there is provided an apparatus 100 for locating a target location in a navigation map, comprising:
a reference data obtaining module 302, configured to obtain at least one reference map image and a reference position located in the reference map image respectively;
a target image determination module 304, configured to search a navigation map for a target map image matching the reference map image;
a target position determining module 306, configured to correspondingly locate, in the target map image, a target position matching the reference position according to the location of the reference position in the at least one reference map image.
In one embodiment, the apparatus 30 further comprises:
a current position obtaining module (not shown) for obtaining a current position;
and a navigation route planning module (not shown) for planning a navigation route from the current position to the target position according to the current position and the target position.
In one embodiment, the apparatus 30 further comprises:
a first position obtaining module (not shown) for obtaining a first position in the reference map image;
a relative position calculation module (not shown) for calculating a relative position of the reference position with respect to the first position;
a second position obtaining module (not shown) for obtaining a second position matching the first position in the navigation map;
a target position locating module (not shown) for locating the target position in the target map image according to the relative position and the second position.
In one embodiment, the apparatus 30 further comprises:
a target position determining module (not shown) for checking the target position and determining whether the target position is correct;
a target position output module (not shown) configured to output the target position if the target position is determined to be correct.
In one embodiment, the apparatus 30 further comprises:
an image information acquiring module (not shown) for acquiring image information;
a feature information extraction module (not shown) for extracting map feature information in the image information;
a reference image determining module (not shown) for determining the reference map image according to the map feature information.
In one embodiment, the target image determination module 304 is further configured to: acquiring a search starting position in the navigation map; acquiring at least one image recognition selection frame matched with the size of the reference map image; and scanning the navigation map through the at least one image identification selection frame from the search starting position to obtain the target map image.
In one embodiment, the target image determination module 304 is further configured to: scanning the navigation map through the at least one image recognition selection frame to obtain at least one scanned image; extracting a feature vector corresponding to each scanned image, and respectively matching the feature vectors with the feature vectors of the reference map image to obtain a plurality of matching scores; if the matching scores larger than a preset threshold exist in the plurality of matching scores, outputting the scanning image corresponding to the matching scores larger than the preset threshold as the target map image.
The device for positioning the target position in the navigation map searches the target map image matched with the reference map image in the navigation map by respectively acquiring at least one reference map image and the reference position in the reference map image, and correspondingly positions the target position matched with the reference position in the target map image according to the positioning of the reference position in the at least one reference map image. Therefore, the purpose of obtaining the corresponding target position in the navigation map according to the reference position in the reference map image is achieved, and particularly when the reference position is a position in a paper map or other map application programs, the purpose of finding the target position corresponding to the reference position in the navigation map is achieved through the method and the device for positioning the target position in the navigation map, the computer device and the computer readable storage medium, so that the navigation efficiency is improved, the travel efficiency is improved, and the travel experience of a user is improved.
For specific definitions of the means for locating a target position in a navigation map, reference may be made to the above definitions of the method for locating a target position in a navigation map, which are not described in detail herein. The various modules in the above-described apparatus for locating a target location in a navigation map may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method for locating a target location in a navigation map. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
respectively acquiring at least one reference map image and a reference position in the reference map image;
searching a target map image matched with the reference map image in a navigation map;
and correspondingly positioning a target position matched with the reference position in the target map image according to the positioning of the reference position in the at least one reference map image.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
respectively acquiring at least one reference map image and a reference position in the reference map image;
searching a target map image matched with the reference map image in a navigation map;
and correspondingly positioning a target position matched with the reference position in the target map image according to the positioning of the reference position in the at least one reference map image.
The above-mentioned computer apparatus and computer-readable storage medium search for a target map image matching the reference map image in the navigation map by respectively acquiring the at least one reference map image and a reference position located in the reference map image, and correspondingly locate, in the target map image, a target position matching the reference position according to the location of the reference position in the at least one reference map image. Therefore, the purpose of obtaining the corresponding target position in the navigation map according to the reference position in the reference map image is achieved, and particularly when the reference position is a position in a paper map or other map application programs, the purpose of finding the target position corresponding to the reference position in the navigation map is achieved through the method and the device for positioning the target position in the navigation map, the computer device and the computer readable storage medium, so that the navigation efficiency is improved, the travel efficiency is improved, and the travel experience of a user is improved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. A method for locating a target location in a navigation map, the method comprising:
respectively acquiring at least one reference map image and a reference position in the reference map image;
searching a navigation map for a target map image matching the reference map image;
and correspondingly positioning a target position matched with the reference position in the target map image according to the positioning of the reference position in the at least one reference map image.
2. The method of claim 1, further comprising:
acquiring a current position;
and planning a navigation route from the current position to the target position according to the current position and the target position.
3. The method of claim 1, further comprising:
acquiring a first position in the reference map image;
calculating a relative position of the reference position with respect to the first position;
acquiring a second position matched with the first position in the navigation map;
and positioning the target position in the target map image according to the relative position and the second position.
4. The method of claim 1, further comprising:
checking the target position and judging whether the target position is correct or not;
and if the target position is judged to be correct, outputting the target position.
5. The method of claim 1, further comprising:
acquiring image information;
extracting map feature information in the image information;
and determining the reference map image according to the map feature information.
6. The method of claim 1, wherein searching for a target map image in the navigation map that matches the reference map image comprises:
acquiring a search starting position in the navigation map;
acquiring at least one image recognition selection frame matched with the size of the reference map image;
scanning the navigation map through the at least one image recognition selection frame from the search starting position to obtain the target map image;
preferably, the scanning the navigation map through the at least one image recognition selection box from the search starting position to obtain the target map image includes:
scanning the navigation map through the at least one image recognition selection frame to obtain at least one scanned image;
extracting a feature vector corresponding to each scanned image, and respectively matching the feature vectors with the feature vectors of the reference map image to obtain a plurality of matching scores;
if the matching scores larger than a preset threshold exist in the plurality of matching scores, outputting the scanning image corresponding to the matching scores larger than the preset threshold as the target map image.
7. An apparatus for locating a target location in a navigation map, comprising:
the reference data acquisition module is used for respectively acquiring at least one reference map image and a reference position in the reference map image;
the target image determining module is used for searching a target map image matched with the reference map image in the navigation map;
and the target position determining module is used for correspondingly positioning the target position matched with the reference position in the target map image according to the positioning of the reference position in the at least one reference map image.
8. The apparatus of claim 7, further comprising:
a current position obtaining module for obtaining a current position;
and the navigation route planning module is used for planning a navigation route from the current position to the target position according to the current position and the target position.
9. The apparatus of claim 7, further comprising:
the first position acquisition module is used for acquiring a first position in the reference map image;
a relative position calculation module for calculating a relative position of the reference position with respect to the first position;
the second position acquisition module is used for acquiring a second position matched with the first position in the navigation map;
and the target position positioning module is used for positioning the target position in the target map image according to the relative position and the second position.
10. The apparatus of claim 7, further comprising:
the target position judging module is used for checking the target position and judging whether the target position is correct or not;
and the target position output module is used for outputting the target position if the target position is judged to be correct.
11. The apparatus of claim 7, further comprising:
the image information acquisition module is used for acquiring image information;
the characteristic information extraction module is used for extracting map characteristic information in the image information;
and the reference image determining module is used for determining the reference map image according to the map characteristic information.
12. The apparatus of claim 7, wherein the target image determination module is further configured to: acquiring a search starting position in the navigation map; acquiring at least one image recognition selection frame matched with the size of the reference map image; scanning the navigation map through the at least one image recognition selection frame from the search starting position to obtain the target map image;
wherein preferably, the target image determination module is further configured to: scanning the navigation map through the at least one image recognition selection frame to obtain at least one scanned image; extracting a feature vector corresponding to each scanned image, and respectively matching the feature vectors with the feature vectors of the reference map image to obtain a plurality of matching scores; if the matching scores larger than a preset threshold exist in the plurality of matching scores, outputting the scanning image corresponding to the matching scores larger than the preset threshold as the target map image.
13. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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