CN112432636B

CN112432636B - Positioning method and device, electronic equipment and storage medium

Info

Publication number: CN112432636B
Application number: CN202011379249.XA
Authority: CN
Inventors: 谢卫健; 钱权浩; 王楠; 章国锋; 鲍虎军
Original assignee: Zhejiang Shangtang Technology Development Co Ltd
Current assignee: Zhejiang Shangtang Technology Development Co Ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2023-04-07
Anticipated expiration: 2040-11-30
Also published as: WO2022110785A1; CN112432636A

Abstract

The disclosure relates to a positioning method and apparatus, an electronic device and a storage medium, wherein the method is applied to a first electronic device and includes: sending a positioning request to second electronic equipment, wherein the positioning request comprises a first environment image of the environment where the first electronic equipment is located; under the condition that first regional map information sent by second electronic equipment is received, performing projection matching on a current second environment image and a point cloud sub-map in the first regional map information to determine a first positioning result of the first electronic equipment, wherein the first regional map information comprises the point cloud sub-map of a geographic region corresponding to the first electronic equipment, and the first positioning result comprises position information and posture information of the first electronic equipment; and displaying the display interface of the first electronic equipment according to the first positioning result. The embodiment of the disclosure can improve the positioning precision and stability.

Description

Positioning method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to a positioning method and apparatus, an electronic device, and a storage medium.

Background

When people move indoors and outdoors (such as inside a large shopping mall, on a city road, etc.), the people often need to determine their own position by positioning, go to a destination by navigation, and the like. In the related art, under the condition that terminal positioning is realized in a visual positioning mode, a set of synchronous positioning And Mapping (SLAM for short) system can be locally operated on a terminal, and the position And posture information of a local SLAM can be directly corrected through a positioning result of a cloud. The method can determine the absolute position of the terminal, but cannot avoid relative errors generated in the system operation process, and jitter, drifting and the like can be generated in some scenes, so that the positioning effect is poor.

Disclosure of Invention

The present disclosure provides a positioning technical solution.

According to an aspect of the present disclosure, there is provided a positioning method applied to a first electronic device, including:

sending a positioning request to second electronic equipment, wherein the positioning request comprises a first environment image of an environment where the first electronic equipment is located; under the condition that first regional map information sent by second electronic equipment is received, performing projection matching on a current second environment image and a point cloud sub-map in the first regional map information, and determining a first positioning result of the first electronic equipment, wherein the first regional map information comprises the point cloud sub-map of a geographic region corresponding to the first electronic equipment, and the first positioning result comprises position information and posture information of the first electronic equipment; and displaying a display interface of the first electronic equipment according to the first positioning result.

In one possible implementation, before the sending the positioning request to the second electronic device, the method further includes: judging whether the position of the first electronic equipment is in the area of second regional map information according to a local positioning result of the first electronic equipment and the second regional map information local to the first electronic equipment, wherein the second regional map information is regional map information sent by the second electronic equipment;

wherein the sending of the location request to the second electronic device comprises: and sending a positioning request to a second electronic device when the position of the first electronic device is not in the area of the second regional map information.

In one possible implementation, the method further includes: under the condition that the position of the first electronic equipment is in the area of the second regional map information, performing projection matching on the first environment image and a point cloud sub-map in the second regional map information, and determining a second positioning result of the first electronic equipment, wherein the second positioning result comprises position information and posture information of the first electronic equipment; and displaying a display interface of the first electronic equipment according to the second positioning result.

In one possible implementation, before sending the positioning request to the second electronic device, the method further includes: determining a local positioning result of the first electronic device according to the first environment image and a local map of the first electronic device, wherein the local positioning result comprises local position information and local attitude information, and the positioning request comprises the local positioning result.

In a possible implementation manner, the first area map information further includes a panoramic sub-map of the geographic area, and the displaying a display interface of the first electronic device according to the first positioning result includes: determining a matched panoramic image from the panoramic sub-map according to the first positioning result; and displaying the panoramic image in the display interface.

In a possible implementation manner, the displaying a display interface of the first electronic device according to the first positioning result includes: determining a navigation path of the first electronic device according to the first positioning result and the geographic position of the destination; and displaying the augmented reality AR navigation path in the display interface according to the navigation path.

In a possible implementation manner, the displaying a display interface of the first electronic device according to the first positioning result includes: determining second position and posture information of the AR object in the display interface according to the first positioning result and the first position and posture information of the AR object; and displaying the AR object in the display interface according to the second position and posture information.

According to an aspect of the present disclosure, there is provided a positioning method applied to a second electronic device, including:

under the condition that a positioning request from first electronic equipment is received, carrying out visual positioning on the first electronic equipment according to a preset point cloud map and a first environment image in the positioning request to obtain a third positioning result of the first electronic equipment, wherein the third positioning result comprises position information and posture information of the first electronic equipment; determining a point cloud sub-map of a geographic area corresponding to the first electronic device from the point cloud map according to the third positioning result; sending first regional map information to the first electronic equipment so that the first electronic equipment can be positioned and displayed according to the first regional map information, wherein the first regional map information comprises a point cloud sub-map of a geographic area corresponding to the first electronic equipment.

In one possible implementation manner, determining, from the point cloud map, a point cloud sub-map of a geographic area corresponding to the first electronic device according to the third positioning result includes: determining the predicted position of the first electronic device according to the position information in the third positioning result, the predicted moving speed of the first electronic device and preset response time; and determining a point cloud sub-map of a geographic area corresponding to the first electronic device from the point cloud map, wherein the geographic area comprises a first geographic area where the third positioning result is located and a second geographic area where the predicted position is located.

In a possible implementation manner, the positioning request further includes a local positioning result of the first electronic device, the local positioning result includes local position information and local attitude information,

the visual positioning is performed on the first electronic device according to a preset point cloud map and a first environment image in the positioning request, so as to obtain a third positioning result of the first electronic device, and the method comprises the following steps: matching the first environment image with the point cloud map to obtain a fourth positioning result of the first electronic device; and verifying the fourth positioning result according to the local positioning result, and determining a third positioning result of the first electronic device.

In one possible implementation, the method further includes: and determining a panoramic sub-map of a geographic area corresponding to the first electronic device from a preset panoramic map according to the third positioning result, wherein the first area map information comprises the panoramic sub-map.

According to an aspect of the present disclosure, there is provided a positioning apparatus applied to a first electronic device, including:

the request sending module is used for sending a positioning request to second electronic equipment, wherein the positioning request comprises a first environment image of an environment where the first electronic equipment is located; the first matching positioning module is used for performing projection matching on a current second environment image and a point cloud sub-map in first regional map information under the condition of receiving the first regional map information sent by the second electronic equipment, and determining a first positioning result of the first electronic equipment, wherein the first regional map information comprises the point cloud sub-map of a geographic region corresponding to the first electronic equipment, and the first positioning result comprises position information and posture information of the first electronic equipment; and the first display module is used for displaying the display interface of the first electronic equipment according to the first positioning result.

In a possible implementation manner, before the request sending module, the apparatus further includes: the area judgment module is used for judging whether the position of the first electronic equipment is in an area of second area map information according to a local positioning result of the first electronic equipment and the second area map information local to the first electronic equipment, wherein the second area map information is the area map information sent by the second electronic equipment; wherein the request sending module comprises: and sending a positioning request to a second electronic device when the position of the first electronic device is not in the area of the second regional map information.

In one possible implementation, the apparatus further includes: the second matching positioning module is used for performing projection matching on the first environment image and a point cloud sub-map in the second regional map information under the condition that the position of the first electronic equipment is in the region of the second regional map information, and determining a second positioning result of the first electronic equipment, wherein the second positioning result comprises position information and posture information of the first electronic equipment; and the second display module is used for displaying the display interface of the first electronic equipment according to the second positioning result.

In a possible implementation manner, before the request sending module, the apparatus further includes: a local positioning module, configured to determine a local positioning result of the first electronic device according to the first environment image and a local map of the first electronic device, where the local positioning result includes local position information and local pose information, and the positioning request includes the local positioning result.

In one possible implementation, the first region map information further includes a panoramic sub-map of the geographic region, and the first presentation module is configured to: determining a matched panoramic image from the panoramic sub-map according to the first positioning result; and displaying the panoramic image in the display interface.

In one possible implementation manner, the first presentation module is configured to: determining a navigation path of the first electronic equipment according to the first positioning result and the geographic position of the destination; and displaying the augmented reality AR navigation path in the display interface according to the navigation path.

In one possible implementation manner, the first presentation module is configured to: determining second position and posture information of the AR object in the display interface according to the first positioning result and the first position and posture information of the AR object; and displaying the AR object in the display interface according to the second position and posture information.

According to an aspect of the present disclosure, there is provided a positioning apparatus applied to a second electronic device, including:

the visual positioning module is used for carrying out visual positioning on first electronic equipment according to a preset point cloud map and a first environment image in a positioning request under the condition that the positioning request from the first electronic equipment is received, so as to obtain a third positioning result of the first electronic equipment, wherein the third positioning result comprises position information and posture information of the first electronic equipment;

the sub-map determining module is used for determining a point cloud sub-map of a geographic area corresponding to the first electronic device from the point cloud map according to the third positioning result;

the regional map sending module is used for sending first regional map information to the first electronic equipment so as to enable the first electronic equipment to carry out positioning and display according to the first regional map information, and the first regional map information comprises a point cloud sub-map of a geographic region corresponding to the first electronic equipment.

In one possible implementation, the sub-map determination module is configured to: determining the predicted position of the first electronic device according to the position information in the third positioning result, the predicted moving speed of the first electronic device and preset response time; and determining a point cloud sub-map of a geographic area corresponding to the first electronic device from the point cloud map, wherein the geographic area comprises a first geographic area where the third positioning result is located and a second geographic area where the predicted position is located.

In a possible implementation manner, the positioning request further includes a local positioning result of the first electronic device, where the local positioning result includes local position information and local pose information, and the visual positioning module is configured to:

matching the first environment image with the point cloud map to obtain a fourth positioning result of the first electronic device; and verifying the fourth positioning result according to the local positioning result, and determining a third positioning result of the first electronic device.

In one possible implementation, the apparatus further includes: and a panoramic sub-map determining module, configured to determine a panoramic sub-map of a geographic area corresponding to the first electronic device from a preset panoramic map according to the third positioning result, where the first area map information includes the panoramic sub-map.

According to an aspect of the present disclosure, there is provided an electronic device including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.

According to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

According to an embodiment of the present disclosure, a positioning request including an environment image can be transmitted to a second electronic device; performing projection matching according to regional map information returned by the second electronic equipment, and determining a first positioning result of the first electronic equipment; and the display is carried out according to the first positioning result, so that the positioning is carried out through a high-precision map, and the positioning precision and stability are improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

Fig. 1 shows a flow chart of a positioning method according to an embodiment of the present disclosure.

Fig. 2 shows a flow chart of a positioning method according to an embodiment of the present disclosure.

Fig. 3 shows a block diagram of a positioning device according to an embodiment of the present disclosure.

Fig. 4 shows a block diagram of a positioning device according to an embodiment of the present disclosure.

Fig. 5 shows a block diagram of an electronic device in accordance with an embodiment of the disclosure.

Fig. 6 illustrates a block diagram of an electronic device in accordance with an embodiment of the disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a variety or any combination of at least two of a variety, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

The positioning method according to the embodiment of the disclosure can be applied to indoor and outdoor scenes such as large malls, transportation hubs, hospitals and large exhibition halls, and the positioning accuracy and stability are improved. The positioning method can be implemented by a first electronic device and a second electronic device. The first electronic device may, for example, comprise a terminal device and the second electronic device may, for example, comprise a cloud server.

Fig. 1 shows a flow chart of a positioning method according to an embodiment of the present disclosure, as shown in fig. 1, the positioning method includes:

in step S11, a positioning request is sent to a second electronic device, where the positioning request includes a first environment image of an environment where the first electronic device is located;

in step S12, in a case that first area map information sent by the second electronic device is received, performing projection matching on a current second environment image and a point cloud sub-map in the first area map information, and determining a first positioning result of the first electronic device, where the first area map information includes the point cloud sub-map of a geographic area corresponding to the first electronic device, and the first positioning result includes position information and posture information of the first electronic device;

in step S13, a display interface of the first electronic device is displayed according to the first positioning result.

In one possible implementation, the positioning method may be applied to a first electronic device, which may be a terminal device, such as a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA) device, a handheld device, a computing device, a vehicle-mounted device, a wearable device, or the like, and the method may be implemented by a processor calling a computer readable instruction stored in a memory.

In a possible implementation manner, when a user holding or wearing the first electronic device needs to determine the position of the user, an environmental image of an environment where the user is located may be acquired by an acquisition component (e.g., a camera) of the first electronic device, for example, an image of a scene faced by the first electronic device is captured. The environmental image may be one or more images, or may be a short video including a plurality of frames of images, which is not limited in this disclosure.

In one possible implementation, in step S11, the first electronic device may send a positioning request to the second electronic device in order to determine its location. The positioning request comprises a first environment image acquired by the first electronic equipment. The second electronic device may be, for example, a cloud server, and stores a point cloud map of an entire geographic area (e.g., a mall internal area, a city area, etc.) where the first electronic device is located.

In a possible implementation manner, after receiving the positioning request, the second electronic device may extract feature information of the first environment image in the positioning request. Feature extraction may be performed on the first environment image, for example, through a pre-trained neural network, to obtain feature information of the first environment image. The present disclosure does not limit the specific manner of feature extraction.

In one possible implementation, after obtaining the feature information of the first environment image, the second electronic device may match the feature information with the point cloud map, and determine a matching visual positioning result (which may be referred to as a third positioning result). The present disclosure does not limit the specific manner in which the feature information is matched with the point cloud map.

In one possible implementation, the third positioning result includes position information and posture information of the first electronic device. Wherein the location information may include location coordinates of the first electronic device; the attitude information may include an orientation, a pitch angle, etc. of the first electronic device.

In the related art, the second electronic device may directly send the third positioning result to the first electronic device, and correct the position and posture information of the local SLAM of the first electronic device, that is, adopt a policy that the high-precision cloud map is loosely coupled with the local SLAM. Although the strategy can determine the absolute position of the first electronic device, in some scenes, for example, scenes such as displaying an Augmented Reality (AR) effect on a screen of the first electronic device, performing AR navigation through the first electronic device, and the like, relative errors generated in the operation process cannot be avoided, and jitter, drift, and the like may be generated, which may lead to poor user experience.

In an embodiment of the disclosure, the second electronic device may determine, according to the third positioning result, a point cloud sub-map of a geographic area corresponding to the first electronic device from the point cloud map. The geographic area may be an area within a certain range near the location of the first electronic device, such as a circular area within a preset distance (e.g., 10 meters) from the location of the first electronic device, and the specific range of the geographic area is not limited by this disclosure.

In a possible implementation manner, the second electronic device may package the point cloud sub-map of the geographic area into a map format of SLAM, generate first area map information, and send the first area map information to the first electronic device.

Because the high-precision map of the cloud end is constructed by fully optimizing the real scene, the positioning precision and the stability can be improved by matching the sub-map of the cloud end locally.

In a possible implementation manner, in step S12, when receiving the first area map information sent by the second electronic device, the first electronic device may perform projection matching on a currently acquired environment image (which may be referred to as a second environment image) and a point cloud sub-map in the first area map information, that is, project a three-dimensional point cloud sub-map into a two-dimensional image, and then perform matching with the second environment image, so as to determine a positioning result (which may be referred to as a first positioning result) of the first electronic device. The first positioning result includes position information and posture information of the first electronic device.

In one possible implementation, the second environmental image may be the same as or different from the first environmental image. If the interval between the moment when the first electronic equipment receives the first regional map information and the moment when the first environment image is collected is within a preset time threshold, the position and the posture of the first electronic equipment can be considered to be unchanged, and the first environment image can be used as a second environment image; if the interval between the time of receiving the first regional map information and the time of acquiring the first environment image exceeds a preset time threshold, the position and the posture of the first electronic device may be changed, and the environment image at the current time can be acquired again and used as the second environment image. The selection of the second environment image and the specific value of the time length threshold are not limited by the disclosure.

Because the image in the cloud map is inconsistent with the local environment image, when image matching is performed in the SLAM system by using, for example, an ORB (Oriented Fast and Rotated description, a Fast feature point extraction and description algorithm) descriptor, a projection matching mode is adopted, so that the search radius can be reduced, and the probability of mismatching can be reduced.

In a possible implementation manner, in step S13, according to the first positioning result, the first electronic device may be displayed in a display interface of the screen. That is, the output result of the VIO (visual-inertial odometer) module of the local SLAM system may be constrained by the first positioning result. And according to the current application scene of the first electronic equipment, rendering corresponding content to be displayed through an output result of the VIO module, and displaying in a display interface.

For example, in an application scene of visual navigation, a navigation path can be determined and displayed in a display interface according to a first positioning result and a destination position, so that a navigation function is realized; under the application scene of virtual object display, the position and the posture of the virtual object to be displayed can be determined according to the first positioning result, and the virtual object can be displayed in the display interface, so that accurate and stable virtual object display is realized. The present disclosure is not limited to the specific content presented in the display interface.

In a possible implementation manner, before step S11, the method further includes:

determining a local positioning result of the first electronic device according to the first environment image and a local map of the first electronic device, wherein the local positioning result comprises local position information and local attitude information, and the positioning request comprises the local positioning result.

For example, a local map of the entire geographic area in which the first electronic device is located may be stored in the first electronic device, and the accuracy of the local map is lower than the accuracy of the point cloud map in the second electronic device. When a user who holds or wears the first electronic equipment needs to determine the position of the user, the first environment image can be collected, preliminary positioning is carried out through an SLAM system according to the first environment image and the local map, and a local positioning result of the first electronic equipment is obtained. The local positioning result includes local position information and local attitude information of the first electronic device, and a positioning accuracy of the local positioning result may be lower than that of the cloud.

In one possible implementation, the local positioning result may be included in the positioning request of the first electronic device. That is, when the first electronic device sends the positioning request to the second electronic device in step S11, the positioning request includes the local positioning result. Through the mode, the positioning result of the local SLAM system can be used as the prior information during cloud positioning, so that the second electronic equipment can verify the positioning result through projection matching, gravity direction verification and other modes, the matching efficiency is increased, and the wrong matching result is eliminated. The present disclosure does not limit the specific manner of authentication.

By the mode, the positioning efficiency and the positioning precision can be further improved.

judging whether the position of the first electronic equipment is in the area of second regional map information according to a local positioning result of the first electronic equipment and the second regional map information local to the first electronic equipment, wherein the second regional map information is regional map information sent by the second electronic equipment;

wherein the sending of the location request to the second electronic device comprises:

and sending a positioning request to a second electronic device when the position of the first electronic device is not in the area of the second regional map information.

For example, when the first electronic device performs positioning for the first time, the positioning request may be directly sent to the second electronic device in step S11, so as to request the high-precision sub-map of the cloud and achieve precise positioning. During multiple positioning of the first electronic device (for example, during navigation to a destination through an AR), the high-precision sub-map of the cloud may have been received and stored locally. In this case, it may be determined whether the first electronic device is within a range of a locally existing sub-map.

In a possible implementation manner, according to a local positioning result of the first electronic device and the area map information (which may be referred to as second area map information) that has been sent by the second electronic device, it may be determined whether the position coordinate of the first electronic device is within a coordinate range of a geographic area corresponding to the second area map information. If the first electronic equipment is located in the range of the second regional map information, accurate positioning can be directly carried out through a point cloud sub-map in the local second regional map information without sending a positioning request; on the contrary, if the first electronic device is not within the range of the second regional map information, step S11 may be executed, that is, a positioning request is sent to the second electronic device.

By the mode, the interaction times of the first electronic equipment and the second electronic equipment can be reduced, the data volume transmitted between the first electronic equipment and the second electronic equipment is reduced, and the positioning efficiency and the positioning speed are improved.

In one possible implementation, the method further includes:

under the condition that the position of the first electronic equipment is in the area of the second regional map information, performing projection matching on the first environment image and a point cloud sub-map in the second regional map information, and determining a second positioning result of the first electronic equipment, wherein the second positioning result comprises position information and posture information of the first electronic equipment;

and displaying a display interface of the first electronic equipment according to the second positioning result.

As described above, if the first electronic device is located within the range of the second area map information, that is, the location of the first electronic device is located within the area of the second area map information, the first environment image and the point cloud sub-map in the second area map information may be subjected to projection matching, that is, the three-dimensional point cloud sub-map is projected as a two-dimensional image and then matched with the first environment image, so as to determine the positioning result (which may be referred to as a second positioning result) of the first electronic device. The second positioning result includes position information and posture information of the first electronic device.

In a possible implementation manner, after the second positioning result is obtained, the display interface of the first electronic device may be displayed according to the second positioning result. That is to say, the VIO module of the local SLAM system may be constrained by the second positioning result, and corresponding content may be displayed in the display interface according to the current application scenario of the first electronic device.

By the mode, the positioning precision and stability can be improved, and the positioning speed is improved; meanwhile, a projection matching mode is adopted, the search radius can be reduced, and the probability of mismatching is reduced.

In a possible implementation manner, if the first electronic device is not within the range of the second regional map information, step S11 may be executed, that is, a positioning request is sent to the second electronic device; when first regional map information sent by second electronic equipment is received, executing step S12, and performing projection matching on a currently acquired second environment image and a point cloud sub-map in the first regional map information to determine a first positioning result; and is displayed according to the positioning result in step S13.

In one possible implementation manner, the first area map information may further include a panoramic sub-map of a geographic area corresponding to the first electronic device. That is, the second electronic device may also determine a plurality of panoramic image frames of the geographic area corresponding to the first electronic device at the same time as the panoramic sub-map; and packaging the panoramic sub map and the point cloud sub map into a map format of SLAM, generating first regional map information and sending the first regional map information to the first electronic equipment.

In one possible implementation, step S13 may include:

determining a matched panoramic image from the panoramic sub-map according to the first positioning result;

and displaying the panoramic image in the display interface.

For example, in an application scene of displaying a panoramic map, the first electronic device may match the panoramic sub-map in the first area map information with the position information and the posture information in the first positioning result, determine a matched panoramic image, and display the panoramic image in the display interface of the first electronic device screen.

In a possible implementation manner, under the condition that the positioning is realized through the second area map information, the positioning can be matched with the panoramic sub map in the second area map information according to the position information and the posture information in the second positioning result, so that the matched panoramic image is determined and displayed in the display interface of the first electronic device screen. The present disclosure does not limit the specific manner in which the panorama sub-map is matched.

In this way, an accurate panoramic map display can be achieved.

In one possible implementation, step S13 may include:

determining a navigation path of the first electronic device according to the first positioning result and the geographic position of the destination;

and displaying the augmented reality AR navigation path in the display interface according to the navigation path.

For example, in an application scenario of AR navigation, a navigation path of the first electronic device may be determined according to the position information and the posture information in the first positioning result and the geographic location of the destination set by the user. Similarly, in the case of positioning by the second area map information, the navigation path of the first electronic device may be determined according to the position information and the posture information in the second positioning result and the geographical position of the destination set by the user. The present disclosure does not limit the specific manner of determining the navigation path.

In one possible implementation, according to the navigation path, the AR navigation path may be presented in a live-action image or a panoramic image of the display interface of the first electronic device so as to instruct the user to travel along the AR navigation path. The AR navigation path includes, for example, AR arrows along the navigation path. The present disclosure is not limited to a particular form of the AR navigation path.

By the method, AR navigation in the live-action image can be realized, the intuitiveness of the navigation route is improved, and the precision and the stability of AR navigation path display are improved.

In one possible implementation, step S13 may include:

determining second position and posture information of the AR object in the display interface according to the first positioning result and the first position and posture information of the AR object;

and displaying the AR object in the display interface according to the second position and posture information.

For example, in an application scene in which the AR object is displayed, the second position and posture information of the AR object in the display interface may be determined according to the position information and posture information in the first positioning result and the first position and posture information of the AR object to be displayed. The present disclosure is not limited to the specific manner of determination.

Similarly, under the condition that the positioning is realized through the second regional map information, the second position and the posture information of the AR object in the display interface can be determined according to the position information and the posture information in the second positioning result and the first position and the posture information of the AR object to be displayed.

In one possible implementation, the AR object may be displayed in a live-action image of the display interface according to the second position and posture information. The AR objects to be presented may include, among other things, AR markers, virtual objects, such as virtual landscapes, virtual animals, and the like. The present disclosure does not limit the specific categories of AR objects.

By the method, the AR object display in the live-action image can be realized, and the precision and the stability of the AR object display are improved.

Fig. 2 shows a flowchart of a positioning method according to an embodiment of the present disclosure, as shown in fig. 2, the positioning method includes:

in step S21, when a positioning request from a first electronic device is received, visually positioning the first electronic device according to a preset point cloud map and a first environment image in the positioning request to obtain a third positioning result of the first electronic device, where the third positioning result includes position information and posture information of the first electronic device;

in step S22, according to the third positioning result, a point cloud sub-map of a geographic area corresponding to the first electronic device is determined from the point cloud map;

in step S23, first regional map information is sent to the first electronic device, so that the first electronic device performs positioning and display according to the first regional map information, where the first regional map information includes a point cloud sub-map of a geographic region corresponding to the first electronic device.

For example, the positioning method may be applied to a second electronic device, which may be, for example, a cloud server. The point cloud map of the whole geographic area (such as the internal area of a shopping mall, the urban area and the like) where the first electronic device is located is stored.

In a possible implementation manner, when a user holding or wearing the first electronic device needs to determine the position of the user, a positioning request may be sent to the second electronic device, where the positioning request includes a first environment image of an environment where the first electronic device is located, where the first environment image is acquired by the first electronic device.

In a possible implementation manner, the second electronic device may determine, according to the third positioning result, a point cloud sub-map of a geographic area corresponding to the first electronic device from the point cloud map. The geographic area may be an area within a certain range around the location of the first electronic device, such as a circular area within a preset distance (e.g., 5 meters) from the location of the first electronic device, which is not limited by this disclosure.

In a possible implementation manner, the second electronic device may package the point cloud sub-map of the geographic area into a map format of SLAM, generate first area map information, and send the first area map information to the first electronic device, so that the first electronic device performs positioning and display according to the first area map information.

According to the embodiment of the disclosure, the positioning result of the first electronic device can be obtained through visual positioning according to the preset point cloud map and the environment image in the positioning request of the first electronic device; determining a point cloud sub-map of a geographic area corresponding to the first electronic equipment according to the positioning result; the regional map information is generated and sent, so that the first electronic equipment can be matched locally through the sub-map of the cloud, and the positioning accuracy and the stability are improved.

In a possible implementation manner, the positioning request further includes a local positioning result of the first electronic device, where the local positioning result includes local position information and local attitude information. The step S21 may include:

matching the first environment image with the point cloud map to obtain a fourth positioning result of the first electronic device;

and verifying the fourth positioning result according to the local positioning result, and determining a third positioning result of the first electronic device.

For example, the first electronic device may perform preliminary positioning by the SLAM system according to the first environment image and the local map, to obtain a local positioning result of the first electronic device, including local position information and local posture information. The positioning accuracy of the local positioning result is lower than that of the cloud. The positioning request sent by the first electronic device also includes the local positioning result.

In a possible implementation manner, after receiving the positioning request, the second electronic device may match the first environment image with the point cloud map to obtain a fourth positioning result of the first electronic device, which includes position information and posture information of the first electronic device; the second electronic device can use the local positioning result as prior information, and verify the fourth positioning result through projection matching, gravity direction verification and other modes to obtain a final positioning result, namely a third positioning result. The present disclosure does not limit the specific manner of authentication.

In this way, the matching efficiency can be increased, and the wrong matching result can be eliminated.

In one possible implementation, step S22 may include:

determining the predicted position of the first electronic device according to the position information in the third positioning result, the predicted moving speed of the first electronic device and preset response time;

and determining a point cloud sub-map of a geographic area corresponding to the first electronic device from the point cloud map, wherein the geographic area comprises a first geographic area where the third positioning result is located and a second geographic area where the predicted position is located.

For example, in some application scenarios (e.g., AR navigation scenarios), the user may be in a state of continuous movement, and when the second electronic device returns the first area map information within a certain range near the location of the first electronic device, the user may have walked out of the range, resulting in the first electronic device failing to match to the corresponding location and posture, resulting in a positioning failure.

In one possible implementation, the second electronic device may predict the speed of movement of the first electronic device and the response time required to return the first area map information. For example, the predicted moving speed of the first electronic device may be determined according to the time when the first electronic device sent the positioning request last time and the third positioning result last time, and the time when the first electronic device sent the positioning request this time and the third positioning result; the predicted moving speed of the first electronic device can also be determined according to a plurality of moments when the first electronic device sends the positioning request and a plurality of third positioning results within a period of time. The present disclosure does not limit the specific manner of determining the predicted movement speed.

In a possible implementation manner, the second electronic device may determine the response time according to a time difference between a time when the first electronic device previously sent the request and a time when the second electronic device previously sent the first regional map information; the plurality of time differences can also be determined according to a plurality of moments when the first electronic device sends the request and a plurality of moments when the second electronic device sends the first regional map information within a period of time, and then the response time is determined. The specific manner in which the response time is determined is not limiting of the present disclosure.

In a possible implementation manner, according to the position x in the third positioning result, the predicted moving speed v of the first electronic device, and the preset response time t, the predicted position x' = vt + x of the first electronic device may be determined. Where t can be set, for example, to 5-10s, which is not limited by the present disclosure.

In one possible implementation manner, the geographic area corresponding to the first electronic device may be set to include a first geographic area within a certain range around the position in the third positioning result, and a second geographic area within a certain range around the predicted position. The second electronic device can determine the point cloud sub-map of the geographic area from the point cloud map of the whole area, package the point cloud sub-map into a map format of SLAM, generate first area map information and send the first area map information to the first electronic device.

In a possible implementation manner, the second electronic device may further determine a panoramic sub-map of the geographic area from the panoramic map of the entire area, package the panoramic sub-map into a map format of SLAM, and add the map format of SLAM to the map information of the first area.

By the method, the efficiency and the success rate of the accurate positioning of the first electronic equipment can be improved, and the positioning effect is further improved.

In one possible implementation, the method may further include:

and determining a panoramic sub-map of a geographic area corresponding to the first electronic device from a preset panoramic map according to the third positioning result, wherein the first area map information comprises the panoramic sub-map.

For example, the second electronic device may further store a panoramic map of an entire geographic area (e.g., an inside area of a mall, a city area, etc.) where the first electronic device is located, and in an application scene of displaying the panoramic map, the second electronic device may send a corresponding panoramic sub-map to the first electronic device.

In a possible implementation manner, the second electronic device may further determine, according to the third positioning result, a plurality of panoramic image frames of a geographic area corresponding to the first electronic device from a preset panoramic map, as a panoramic sub-map; and packaging the panoramic sub map and the point cloud sub map into a map format of SLAM, generating first regional map information and sending the first regional map information to the first electronic equipment.

In a possible implementation manner, the first electronic device may match the panoramic sub-map in the first area map information according to the position and the posture in the first positioning result, determine a matched panoramic image, and display the panoramic image in the display interface of the screen of the first electronic device, thereby realizing accurate panoramic map display.

According to the positioning method disclosed by the embodiment of the disclosure, a high-precision map can be requested from a cloud server through a terminal, and a sub-map in an SLAM format returned by a cloud is obtained; performing projection matching through the sub-map to obtain a positioning result of the high-precision map; and the positioning result is fed back to the VIO module of the local SLAM system in real time so as to be displayed correspondingly, and therefore local high-precision positioning is achieved.

According to the positioning method disclosed by the embodiment of the invention, a tight coupling strategy between a high-precision map and a local SLAM system can be realized, the map building requirement of the local SLAM is reduced, the VIO can be ensured to be positioned by continuously utilizing the high-precision map, the accumulated error and jitter generated by the operation of the SLAM can be reduced, and the positioning precision and stability are improved. Under the application scenes of AR navigation, AR display and the like, the relative error generated when the AR effect is displayed in a local range can be reduced, and the phenomena of shaking, drifting and the like of the AR effect under a weak texture scene are reduced.

The positioning method according to the embodiment of the disclosure can be applied to various application scenes of augmented reality AR, such as scenes of AR cloud, AR navigation and the like; and Location Based Services (LBS) in various application scenarios, to improve the effects of positioning, presentation, and interaction.

It is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted. Those skilled in the art will appreciate that in the above methods of the specific embodiments, the specific order of execution of the steps should be determined by their function and possibly their inherent logic.

In addition, the present disclosure also provides a positioning apparatus, an electronic device, a computer-readable storage medium, and a program, which can be used to implement any one of the positioning methods provided by the present disclosure, and the corresponding technical solutions and descriptions and corresponding descriptions in the method sections are not repeated.

Fig. 3 shows a block diagram of a positioning apparatus according to an embodiment of the present disclosure, which is applied to a first electronic device, as shown in fig. 3, the apparatus including:

a request sending module 31, configured to send a positioning request to a second electronic device, where the positioning request includes a first environment image of an environment where the first electronic device is located;

the first matching positioning module 32 is configured to, in a case that first area map information sent by the second electronic device is received, perform projection matching on a current second environment image and a point cloud sub-map in the first area map information, and determine a first positioning result of the first electronic device, where the first area map information includes the point cloud sub-map of a geographic area corresponding to the first electronic device, and the first positioning result includes position information and posture information of the first electronic device;

and the first display module 33 is configured to display a display interface of the first electronic device according to the first positioning result.

In a possible implementation manner, before the request sending module, the apparatus further includes: the area judgment module is used for judging whether the position of the first electronic equipment is in the area of second area map information according to a local positioning result of the first electronic equipment and the second area map information local to the first electronic equipment, wherein the second area map information is the area map information sent by the second electronic equipment; wherein the request sending module comprises: and sending a positioning request to a second electronic device under the condition that the position of the first electronic device is not in the area of the second regional map information.

In one possible implementation manner, the first presentation module is configured to: determining a navigation path of the first electronic device according to the first positioning result and the geographic position of the destination; and displaying the augmented reality AR navigation path in the display interface according to the navigation path.

Fig. 4 shows a block diagram of a positioning apparatus according to an embodiment of the present disclosure, which is applied to a second electronic device, as shown in fig. 4, the apparatus including:

the visual positioning module 41 is configured to, when a positioning request from a first electronic device is received, perform visual positioning on the first electronic device according to a preset point cloud map and a first environment image in the positioning request, to obtain a third positioning result of the first electronic device, where the third positioning result includes position information and posture information of the first electronic device;

a sub-map determining module 42, configured to determine, according to the third positioning result, a point cloud sub-map of a geographic area corresponding to the first electronic device from the point cloud map;

the regional map sending module 43 is configured to send first regional map information to the first electronic device, so that the first electronic device performs positioning and displaying according to the first regional map information, where the first regional map information includes a point cloud sub-map of a geographic area corresponding to the first electronic device.

In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.

Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above-mentioned method. The computer readable storage medium may be a non-volatile computer readable storage medium.

An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.

The embodiments of the present disclosure also provide a computer program product, which includes computer readable code, and when the computer readable code runs on a device, a processor in the device executes instructions for implementing the positioning method provided in any of the above embodiments.

The embodiments of the present disclosure also provide another computer program product for storing computer readable instructions, which when executed cause a computer to perform the operations of the positioning method provided in any of the above embodiments.

The electronic device may be provided as a terminal, server, or other form of device.

Fig. 5 illustrates a block diagram of an electronic device 800 in accordance with an embodiment of the disclosure. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.

Referring to fig. 5, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.

The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a Complementary Metal Oxide Semiconductor (CMOS) or Charge Coupled Device (CCD) image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as a wireless network (WiFi), a second generation mobile communication technology (2G) or a third generation mobile communication technology (3G), or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.

Fig. 6 illustrates a block diagram of an electronic device 1900 in accordance with an embodiment of the disclosure. For example, electronic device 1900 may be provided as a server. Referring to fig. 6, electronic device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the above-described method.

The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system, such as the Microsoft Server operating system (Windows Server), stored in the memory 1932 ^TM ) Apple Inc. of the present application based on the graphic user interface operating System (Mac OS X) ^TM ) Multi-user, multi-process computer operating system (Unix) ^TM ) Free and open native code Unix-like operating System (Linux) ^TM ) Open native code Unix-like operating System (FreeBSD) ^TM ) Or the like.

In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1932, is also provided that includes computer program instructions executable by the processing component 1922 of the electronic device 1900 to perform the above-described methods.

The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: 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), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. 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 some embodiments, aspects of the disclosure are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A positioning method applied to a first electronic device includes:

sending a positioning request to second electronic equipment, wherein the positioning request comprises a first environment image of an environment where the first electronic equipment is located;

under the condition that first regional map information sent by second electronic equipment is received, performing projection matching on a current second environment image and a point cloud sub-map in the first regional map information, and determining a first positioning result of the first electronic equipment, wherein the first regional map information comprises the point cloud sub-map of a geographic area corresponding to the first electronic equipment, the geographic area is an area in a certain range near the position of the first electronic equipment, and the first positioning result comprises the position information and the posture information of the first electronic equipment;

and displaying a display interface of the first electronic equipment according to the first positioning result.

2. The method of claim 1, wherein prior to said sending a location request to a second electronic device, the method further comprises:

3. The method of claim 2, further comprising:

4. The method of any of claims 1-3, wherein prior to sending the location request to the second electronic device, the method further comprises:

determining a local positioning result of the first electronic device according to the first environment image and a local map of the first electronic device, wherein the local positioning result comprises local position information and local attitude information,

wherein the positioning request includes the local positioning result.

5. The method of any of claims 1-4, wherein the first region map information further comprises a panoramic sub-map of the geographic region,

the displaying a display interface of the first electronic device according to the first positioning result includes:

and displaying the panoramic image in the display interface.

6. The method according to any one of claims 1-5, wherein the presenting a display interface of the first electronic device according to the first positioning result comprises:

7. The method according to any one of claims 1-6, wherein the presenting a display interface of the first electronic device according to the first positioning result comprises:

8. A positioning method applied to a second electronic device includes:

under the condition that a positioning request from first electronic equipment is received, carrying out visual positioning on the first electronic equipment according to a preset point cloud map and a first environment image in the positioning request to obtain a third positioning result of the first electronic equipment, wherein the third positioning result comprises position information and posture information of the first electronic equipment;

determining a point cloud sub-map of a geographic area corresponding to the first electronic device from the point cloud map according to the third positioning result;

and sending first regional map information to the first electronic equipment so that the first electronic equipment can carry out positioning and display according to the first regional map information and the current second environment image, wherein the first regional map information comprises a point cloud sub-map of a geographic area corresponding to the first electronic equipment.

9. The method of claim 8, wherein determining a point cloud sub-map of a geographic area corresponding to the first electronic device from the point cloud map according to the third positioning result comprises:

10. The method according to claim 8 or 9, wherein the positioning request further comprises a local positioning result of the first electronic device, the local positioning result comprising local position information and local attitude information,

the visual positioning is performed on the first electronic device according to a preset point cloud map and a first environment image in the positioning request, so as to obtain a third positioning result of the first electronic device, and the method comprises the following steps:

matching the first environment image with the point cloud map to obtain a fourth positioning result of the first electronic equipment;

11. The method according to any one of claims 8-10, further comprising:

12. A positioning device applied to a first electronic device, comprising:

the request sending module is used for sending a positioning request to second electronic equipment, wherein the positioning request comprises a first environment image of an environment where the first electronic equipment is located;

the first matching positioning module is used for performing projection matching on a current second environment image and a point cloud sub-map in first area map information under the condition that the first area map information sent by the second electronic equipment is received, and determining a first positioning result of the first electronic equipment, wherein the first area map information comprises the point cloud sub-map of a geographic area corresponding to the first electronic equipment, the geographic area is an area in a certain range near the position of the first electronic equipment, and the first positioning result comprises the position information and the posture information of the first electronic equipment;

and the first display module is used for displaying the display interface of the first electronic equipment according to the first positioning result.

13. A positioning device applied to a second electronic device, comprising:

the regional map sending module is used for sending first regional map information to the first electronic equipment so that the first electronic equipment can carry out positioning and display according to the first regional map information and the current second environmental image, and the first regional map information comprises a point cloud sub-map of a geographic area corresponding to the first electronic equipment.

14. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to invoke the memory-stored instructions to perform the method of any of claims 1 to 11.

15. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1 to 11.