CN112699884A - Positioning method, positioning device, electronic equipment and storage medium - Google Patents
Positioning method, positioning device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN112699884A CN112699884A CN202110127348.7A CN202110127348A CN112699884A CN 112699884 A CN112699884 A CN 112699884A CN 202110127348 A CN202110127348 A CN 202110127348A CN 112699884 A CN112699884 A CN 112699884A
- Authority
- CN
- China
- Prior art keywords
- positioning
- image
- acquisition equipment
- real scene
- image acquisition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 126
- 230000008569 process Effects 0.000 claims abstract description 68
- 238000004590 computer program Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 206010011469 Crying Diseases 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/24—Aligning, centring, orientation detection or correction of the image
- G06V10/245—Aligning, centring, orientation detection or correction of the image by locating a pattern; Special marks for positioning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Studio Devices (AREA)
Abstract
The disclosure provides a positioning method, a positioning device, an electronic device and a storage medium, wherein the method comprises the following steps: shooting a real scene image through image acquisition equipment, and acquiring a positioning result based on the shot real scene image; under the condition that the positioning results obtained for multiple times do not meet the preset positioning requirements, obtaining moving state data of the image acquisition equipment in the positioning process corresponding to the multiple positioning results; if the moving degree of the image acquisition equipment in the positioning process corresponding to the multi-time positioning result does not meet the preset moving requirement according to the moving state data, sending moving prompt information; the movement prompt information is used for prompting a user to adjust the pose information of the image acquisition equipment; and acquiring a positioning result of the image acquisition equipment after the mobile prompt information is sent out.
Description
Technical Field
The present disclosure relates to the field of computer vision technologies, and in particular, to a positioning method, an apparatus, an electronic device, and a storage medium.
Background
In recent years, a target positioning method based on computer vision is rapidly developed, wherein the positioning method is to acquire a scene image by using electronic equipment and determine the pose information of the equipment according to the scene image and a visual high-precision map constructed in advance.
Generally, when positioning is performed by using a visual high-precision map and a scene image, a positioning result may not be obtained when a scene image acquired by an electronic device has a relatively small feature value or a relatively large number of repeated textures. If the user side acquires the scene image for a long time at a position with less visual features or more repeated textures for positioning in the positioning process, a situation that a positioning result cannot be obtained all the time is caused, and the positioning efficiency is reduced.
Disclosure of Invention
In view of the above, the present disclosure provides at least a positioning method, an apparatus, an electronic device and a storage medium.
In one aspect, the present disclosure provides a positioning method, including:
shooting a real scene image through image acquisition equipment, and acquiring a positioning result based on the shot real scene image;
under the condition that the positioning results obtained for multiple times do not meet the preset positioning requirements, obtaining moving state data of the image acquisition equipment in the positioning process corresponding to the multiple positioning results;
if the moving degree of the image acquisition equipment in the positioning process corresponding to the multiple positioning results does not meet the preset moving requirement according to the moving state data, sending moving prompt information; the movement prompt information is used for prompting a user to adjust the pose information of the image acquisition equipment;
and acquiring a positioning result of the image acquisition equipment after the mobile prompt information is sent out.
By adopting the method, the positioning result can be obtained based on the shot real scene image, when the positioning result obtained for multiple times does not meet the preset positioning requirement, the movement state data of the image acquisition equipment in the positioning process corresponding to the multiple positioning result can be obtained, and when the image acquisition equipment is determined to not meet the preset movement requirement according to the movement state data, the movement prompt information can be sent out to prompt the user to adjust the pose information of the image acquisition equipment, so that the pose information of the image acquisition equipment can be obtained based on the real scene image shot by the adjusted image acquisition equipment, the positioning process is completed, the situations of continuous positioning failure and positioning time loss caused by continuous shooting of the real scene image at the position where the positioning result does not meet the requirement by the user are avoided, and the positioning efficiency is improved.
In a possible implementation manner, the positioning results obtained multiple times do not meet a preset positioning requirement, which includes any of the following cases:
the number of times of indicating positioning failure in the positioning results obtained for the last times is larger than a set first time threshold;
the number of positioning results with the accuracy lower than the set accuracy threshold in the positioning results obtained for the last times is larger than the set number threshold.
In a possible implementation manner, determining, according to the movement state data, that a movement degree of the image capturing device in a positioning process corresponding to a plurality of positioning results does not meet a preset movement requirement includes:
and determining that the moving distance of the image acquisition equipment is smaller than a set distance threshold value and/or the moving angle is smaller than a set angle threshold value in the positioning process corresponding to the multiple positioning results according to the moving state data.
In a possible embodiment, the acquiring a positioning result based on the captured real scene image includes:
sending the shot real scene image to a server according to a preset positioning period, and receiving a positioning result fed back by the server; each positioning period is a time period from the acquisition of the current real scene image to the acquisition of the next real scene image.
In a possible implementation manner, the obtaining a positioning result based on the captured real scene image further includes:
if the real scene image used for positioning in the current positioning period is sent to a server, the positioning result fed back by the server is received and does not meet the preset positioning requirement, and the moving state data of the image acquisition equipment in the current positioning period is obtained;
and if the movement degree of the image acquisition equipment in the current positioning period does not meet the set movement requirement according to the movement state data, determining the positioning result corresponding to the current positioning period as the positioning result of the next positioning period.
In the above embodiment, after sending the real-scene image for positioning in the current positioning period to the server in the current positioning period, the mobile state data of the image acquisition device in the current positioning period is obtained after receiving that the positioning result fed back by the server does not satisfy the preset positioning requirement, for example, when the received positioning result is positioning failure, it is determined that the mobile degree of the image acquisition device in the current positioning period does not satisfy the set mobile requirement based on the mobile state data, and it represents that the real-scene image acquired in the next positioning period and the real-scene image acquired in the current positioning period have the same image information, and then the positioning result corresponding to the current positioning period is determined as the positioning result of the next positioning period, so that the process of determining the positioning result based on the real-scene image in the next positioning period by the server can be reduced, the loss of server resources is avoided.
In a possible implementation manner, the sending out the movement prompting message includes:
and continuously sending the movement prompt information until a user triggers a relocation request, or until the time length for sending the movement prompt information reaches a first set time length.
In the above embodiment, the movement prompt information may be continuously sent until the user triggers the relocation request, or until the time length for sending the movement prompt information reaches the first set time length, so as to avoid that the user does not receive the prompt information in time due to too short sending time, and avoid resource waste of the image acquisition device due to too long display time.
In a possible embodiment, the method further comprises:
and after the time length for sending the mobile prompt message reaches a first set time length, ending the current positioning process and displaying the prompt message of positioning failure.
In a possible embodiment, the method further comprises:
and after the user triggers the repositioning request, responding to the repositioning request of the user, returning to the step of shooting the image of the real scene through the image acquisition equipment and acquiring a positioning result based on the shot image of the real scene.
In the above manner, after the user triggers the repositioning request, the step of shooting the image of the real scene through the image acquisition device and acquiring the positioning result based on the shot image of the real scene can be returned to, and the positioning manner is enriched.
The following descriptions of the effects of the apparatus, the electronic device, and the like refer to the description of the above method, and are not repeated here.
In another aspect, the present disclosure provides a positioning device, comprising:
the first positioning module is used for shooting a real scene image through image acquisition equipment and acquiring a positioning result based on the shot real scene image;
the acquisition module is used for acquiring the moving state data of the image acquisition equipment in the positioning process corresponding to the multiple positioning results under the condition that the multiple acquired positioning results do not meet the preset positioning requirements;
the determining module is used for determining that the moving degree of the image acquisition equipment in the positioning process corresponding to the multi-time positioning result does not meet the preset moving requirement according to the moving state data, and sending moving prompt information; the movement prompt information is used for prompting a user to adjust the pose information of the image acquisition equipment;
and the second positioning module is used for acquiring the positioning result of the image acquisition equipment after the mobile prompt information is sent out.
In a possible implementation manner, the positioning results obtained multiple times do not meet a preset positioning requirement, which includes any of the following cases:
the number of times of indicating positioning failure in the positioning results obtained for the last times is larger than a set first time threshold;
the number of positioning results with the accuracy lower than the set accuracy threshold in the positioning results obtained for the last times is larger than the set number threshold.
In a possible implementation manner, when determining, according to the movement state data, that the degree of movement of the image capturing device in the positioning process corresponding to the multiple positioning results does not meet a preset movement requirement, the determining module includes:
and determining that the moving distance of the image acquisition equipment is smaller than a set distance threshold value and/or the moving angle is smaller than a set angle threshold value in the positioning process corresponding to the multiple positioning results according to the moving state data.
In a possible implementation manner, the first positioning module, when obtaining the positioning result based on the captured real scene image, is configured to:
sending the shot real scene image to a server according to a preset positioning period, and receiving a positioning result fed back by the server; each positioning period is a time period from the acquisition of the current real scene image to the acquisition of the next real scene image.
In a possible implementation manner, the first positioning module, when obtaining the positioning result based on the captured real scene image, is further configured to:
if the real scene image used for positioning in the current positioning period is sent to a server, the positioning result fed back by the server is received and does not meet the preset positioning requirement, and the moving state data of the image acquisition equipment in the current positioning period is obtained;
and if the movement degree of the image acquisition equipment in the current positioning period does not meet the set movement requirement according to the movement state data, determining the positioning result corresponding to the current positioning period as the positioning result of the next positioning period.
In a possible implementation manner, the determining module, when issuing the movement prompting message, is configured to:
and continuously sending the movement prompt information until a user triggers a relocation request, or until the time length for sending the movement prompt information reaches a first set time length.
In a possible embodiment, the positioning device further comprises:
and the display module is used for finishing the current positioning process and displaying the prompt message of positioning failure after the time length for sending the mobile prompt message reaches a first set time length.
In a possible embodiment, the positioning device further comprises:
and the response module is used for responding to the repositioning request of the user after the user triggers the repositioning request, returning to the step of shooting the image of the real scene through the image acquisition equipment and acquiring the positioning result based on the shot image of the real scene.
In another aspect, the present disclosure provides an electronic device comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of the positioning method according to the first aspect or any of the embodiments.
In another aspect, the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the positioning method according to the first aspect or any one of the embodiments.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.
Fig. 1 is a schematic flow chart illustrating a positioning method provided by an embodiment of the present disclosure;
fig. 2 is a schematic interface diagram of an AR device in a positioning method provided by an embodiment of the present disclosure;
fig. 3 is a schematic interface diagram of an AR device in a positioning method provided by an embodiment of the present disclosure;
fig. 4 is a schematic diagram illustrating an architecture of a positioning apparatus provided in an embodiment of the present disclosure;
fig. 5 shows a schematic structural diagram of an electronic device 500 provided in an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.
Generally, when positioning is performed by using a visual high-precision map and a scene image, a positioning result may not be obtained when a scene image acquired by an electronic device has a relatively small feature value or a relatively large number of repeated textures. If the user side acquires the scene image for a long time at a position with less visual features or more repeated textures for positioning in the positioning process, a situation that a positioning result cannot be obtained all the time is caused, and the positioning efficiency is reduced.
In order to solve the above problem, an embodiment of the present disclosure provides a positioning method, where, when a positioning result obtained multiple times does not meet a preset positioning requirement, movement state data of an image capturing device in a positioning process corresponding to the multiple positioning results is obtained, and when it is determined that a movement degree of the image capturing device in a positioning process corresponding to the multiple continuous positioning results does not meet the preset movement requirement based on the movement state data, movement prompt information is sent out, so that a user adjusts a pose of the image capturing device after receiving the movement prompt information, obtains a real scene image from another position, and obtains a positioning result with successful positioning based on the real scene image obtained after adjusting the pose, thereby completing a positioning process of an AR device.
For the convenience of understanding the embodiments of the present disclosure, a detailed description will be given of a positioning method disclosed in the embodiments of the present disclosure. An execution main body of the positioning method provided by the embodiment of the disclosure may be an AR device, for example, the AR device may be a mobile phone, a tablet, AR glasses, or the like; other processing devices with data processing capability, such as a local or cloud server, may also be used, and the embodiments of the present disclosure are not limited thereto.
Referring to fig. 1, a schematic flow chart of a positioning method provided in the embodiment of the present disclosure is shown, the method includes S101-S104, where:
s101, shooting a real scene image through image acquisition equipment, and acquiring a positioning result based on the shot real scene image;
s102, under the condition that the positioning results obtained for multiple times do not meet preset positioning requirements, obtaining moving state data of the image acquisition equipment in the positioning process corresponding to the multiple positioning results;
s103, if the movement degree of the image acquisition equipment in the positioning process corresponding to the multi-time positioning result does not meet the preset movement requirement according to the movement state data, sending movement prompt information; the movement prompt information is used for prompting a user to adjust the pose information of the image acquisition equipment;
and S104, acquiring the positioning result of the image acquisition equipment after the movement prompt information is sent out.
According to the method, the positioning result can be obtained based on the shot real scene image, when the positioning result obtained for multiple times does not meet the preset positioning requirement, the movement state data of the image acquisition equipment in the positioning process corresponding to the multiple positioning result can be obtained, when the image acquisition equipment is determined to not meet the preset movement requirement according to the movement state data, the movement prompt information can be sent out to prompt a user to adjust the pose information of the image acquisition equipment, so that the pose information of the image acquisition equipment can be obtained based on the real scene image shot by the adjusted image acquisition equipment, the positioning process is completed, the situation that the user continuously shoots the real scene image at the position where the positioning result does not meet the requirement, continuous positioning failure and positioning time loss are caused is avoided, and the positioning efficiency is improved.
For S101:
here, the image capturing device may be any device that needs to acquire accurate pose information, for example, the image capturing device may be an enhanced display (AR) device; the AR device may be a smart device capable of supporting AR functionality, illustratively, the AR device includes but is not limited to: the mobile phone, the tablet computer, the AR glasses and other electronic equipment capable of presenting the augmented reality effect. The following description will take an image capturing device as an AR device as an example.
For example, an application scenario of the positioning method may include determining a positioning result of the AR device during AR navigation; in the AR display scene, in the process of displaying the virtual object, determining the positioning result of the AR equipment and the like.
For example, in an AR navigation scene, when an AR navigation process starts, initial pose information of an AR device may be determined by the positioning method. Or, the real-time pose information of the AR equipment in the navigation process can be determined in real time by the positioning method in the AR navigation process.
In specific implementation, a user can determine a positioning result of the AR device by triggering a positioning function of the AR device, by shooting a real scene image, and using the shot real scene image. The positioning result of the AR device may be three-dimensional pose information of the AR device, or scene building information corresponding to the three-dimensional pose information, or the like. The three-dimensional pose information may include three-dimensional position information and angle information (such as euler angle information).
After the real scene image is obtained through shooting, the real scene image can be sent to the server, so that the server can determine a positioning result corresponding to the real scene image by using the real scene image and the established three-dimensional map.
In an optional embodiment, the obtaining a positioning result based on the captured real scene image includes: sending the shot real scene image to a server according to a preset positioning period, and receiving a positioning result fed back by the server; each positioning period is a time period from the acquisition of the current real scene image to the acquisition of the next real scene image.
Here, a positioning period may be set, and the photographed image of the real scene is sent to the server according to the set positioning period to obtain a positioning result; each positioning period is a time period from the acquisition of the current real scene image to the acquisition of the next real scene image. For example, after the user initiates the positioning process, that is, after the user triggers the positioning button, the AR device may shoot the image of the real scene according to a preset positioning period, and send the shot image of the real scene to the server until the positioning is successful, or until the number of times of positioning is equal to the set number threshold. The positioning period may be set according to actual needs, or may be determined according to the time for the server to obtain the positioning result based on the real scene image. For example, if the time for obtaining the positioning result is 3 seconds based on the real scene image, the positioning period may be set to 4 seconds. For example, when the positioning period is 4 seconds, the first positioning period may correspond to a time period of 10:10:01 (start time of the positioning period) to 10:10:04 (end time of the positioning period).
For example, assuming that a preset positioning period is 5 seconds, after a user initiates a positioning process, the AR device acquires a photographed real scene image and sends the real scene image to the server, and if a result returned by the server is that positioning fails, the AR device may acquire the photographed real scene image again at an interval of 5 seconds, and perform positioning processing again until the result returned by the server is a pose information position of the AR device, or until the number of times of positioning based on the real scene image is equal to a set number threshold.
In specific implementation, after receiving the real scene image, the server may determine a positioning result corresponding to the real scene image based on the real scene image and a pre-constructed three-dimensional map model. For example, the real scene image may be recognized, feature information of feature points included in the real scene image may be determined, and a positioning result may be determined based on matching between the feature information of the feature points corresponding to the determined real scene image and a pre-constructed three-dimensional map model.
Illustratively, a three-dimensional map model may be constructed according to the following steps: a scene video corresponding to a real scene can be obtained first, and a plurality of frames of image samples are obtained from the scene video by sampling; or acquiring multi-frame image samples at different positions corresponding to the real scene; and extracting the characteristic information of the sample characteristic points included in each frame of image sample from the acquired multi-frame image samples, and constructing a three-dimensional map model based on the characteristic information of the sample characteristic points respectively corresponding to the multi-frame image samples.
In an optional implementation, the obtaining a positioning result based on the captured real scene image further includes:
firstly, if the real scene image used for positioning in the current positioning period is sent to a server, the positioning result fed back by the server is received and does not meet the preset positioning requirement, and the moving state data of the image acquisition equipment in the current positioning period is obtained.
And secondly, if the movement degree of the image acquisition equipment in the current positioning period does not meet the set movement requirement according to the movement state data, determining a positioning result corresponding to the current positioning period as a positioning result of the next positioning period.
Here, the movement state data may be data representing a device movement state of the image capturing device, for example, the movement state data may be Inertial Measurement Unit (IMU) data corresponding to the image capturing device.
In the embodiment of the present disclosure, each positioning period refers to a time period from when a current real scene image is acquired to before a next real scene image is acquired, for example, when the positioning period is 2 seconds, the current positioning period is a time period from when the current real scene image is acquired to when the next real scene image is acquired. The movement state data in the current positioning period may refer to movement state data of the image acquisition device in a time period from the acquisition of the current real scene image to the acquisition of the next frame of real scene image; alternatively, the movement state data in the current positioning period may also refer to movement state data of the image capturing device in a time period from the time when the current real scene image is acquired to the time when the movement state data is acquired.
The above process is exemplarily described, assuming that a preset positioning period is 2 seconds, after a user initiates a positioning process, at a start time of a first positioning period, obtaining a first frame of real scene image shot by an AR device, and sending the first frame of real scene image to a server within the first positioning period, if a result returned by the server does not meet a preset positioning requirement, obtaining moving state data of the AR device within the first positioning period, that is, obtaining moving state data of the AR device within a time period from the start of the first positioning period to the start of a second positioning period.
And if the movement degree of the AR equipment in the current positioning period does not meet the set movement requirement according to the movement state data, acquiring a second frame of real scene image at the starting moment of a second positioning period, not sending the second frame of real scene image to the server, and directly determining the positioning result corresponding to the first positioning period as the positioning result of the second positioning period.
Determining whether the AR equipment moves in the first positioning period or not based on the movement state data in the first positioning period, and if the AR equipment moves, sending a second frame of real scene image acquired in a second positioning period to the server so that the server determines a positioning result based on the second frame of real scene image acquired in the second positioning period; and repeating the process of the second positioning period until the positioning is successful, or until the positioning period is equal to the set positioning times.
In the above embodiment, after sending the real-scene image for positioning in the current positioning period to the server in the current positioning period, the mobile state data of the image acquisition device in the current positioning period is obtained after receiving that the positioning result fed back by the server does not satisfy the preset positioning requirement, for example, when the received positioning result is positioning failure, it is determined that the mobile degree of the image acquisition device in the current positioning period does not satisfy the set mobile requirement based on the mobile state data, and it represents that the real-scene image acquired in the next positioning period and the real-scene image acquired in the current positioning period have the same image information, and then the positioning result corresponding to the current positioning period is determined as the positioning result of the next positioning period, so that the process of determining the positioning result based on the real-scene image in the next positioning period by the server can be reduced, the loss of server resources is avoided.
In a possible implementation manner, the positioning results obtained multiple times do not meet a preset positioning requirement, which includes any of the following cases:
in the first situation, the number of times of indicating positioning failure in positioning results obtained for multiple times is larger than a set first time threshold value;
and in the second case, the number of positioning results with the accuracy lower than the set accuracy threshold value in the positioning results obtained for the most recent times is larger than the set number threshold value.
For the first case, the positioning results obtained most recently may be multiple positioning results obtained in unit time. For example, the positioning results obtained many times may be a plurality of positioning results obtained within one minute. At this time, the number of positioning results may be determined according to the length of the unit time and the positioning period. For example, when the length of the unit duration is 1 minute and the positioning period is 5 seconds, the positioning result of the last 12 times can be obtained. The positioning failure means that the pose information of the image acquisition equipment cannot be identified by using a real scene image.
And if the times of indicating positioning failure in the multiple positioning results acquired in unit time are greater than the set first time threshold, determining that the multiple acquired positioning results do not meet the preset positioning requirement. Wherein, the first time threshold value can be set according to the requirement. For example, when the number of the obtained multiple positioning results is 10, if the number of times of positioning failure indicated in the 10 positioning results is 6 times and is greater than the set first time threshold (for example, 5 times), it is determined that the multiple obtained positioning results do not meet the preset positioning requirement.
Or, the positioning result obtained for the last multiple times may be the positioning result obtained for the consecutive multiple times, and at this time, the number of times of the positioning result obtained for the consecutive times may be set as required. For example, when the number of times may be 5, if the positioning results obtained for 5 consecutive times all indicate that positioning fails, it is determined that the positioning results obtained for multiple times do not meet the preset positioning requirement.
For case two, the accuracy threshold may be set as needed. When the obtained positioning results include the confidence degrees, the confidence degrees can be determined as the accuracy degrees of the positioning results, and if the number of the positioning results with the accuracy degrees lower than the set accuracy threshold value in the positioning results obtained for the last times is larger than the set number threshold value, the positioning results obtained for the last times are determined not to meet the preset positioning requirements.
Or, a deviation value between the obtained current positioning result and the adjacent historical positioning result may also be determined, when the deviation value is greater than a set deviation threshold, it is determined that the positioning result is inaccurate, and when the number of inaccurate positioning results in the positioning results obtained for the most recent times is greater than a set number threshold, it is determined that the positioning results obtained for the most times do not meet the preset positioning requirement.
In a specific implementation, the sum of the times of the positioning results with failed positioning and the times of the positioning results with inaccurate positioning (for example, the accuracy of the positioning results is lower than a set accuracy threshold) may be determined in the positioning results obtained many times, and when the sum of the times is greater than the set time threshold, it is determined that the positioning results obtained many times do not meet the preset positioning requirement.
In a possible implementation manner, determining, according to the movement state data, that a movement degree of the image capturing device in a positioning process corresponding to a plurality of positioning results does not meet a preset movement requirement includes: and determining that the moving distance of the image acquisition equipment is smaller than a set distance threshold value and/or the moving angle is smaller than a set angle threshold value in the positioning process corresponding to the multiple positioning results according to the moving state data.
And determining that the moving degree of the image acquisition equipment in the positioning process corresponding to the multi-time positioning result does not meet the preset moving requirement when the positioning process corresponding to the multi-time positioning result is determined to be not moved according to the moving state data. Wherein, the positioning process corresponding to the multiple positioning results refers to: a positioning procedure in a time period from a start time corresponding to an earliest positioning result (i.e. a start time of a positioning cycle of the earliest positioning result) indicated by the multiple positioning results to an end time corresponding to a latest positioning result (i.e. an end time of a positioning cycle of the latest positioning result) indicated by the multiple positioning results.
Or determining that the moving distance of the image acquisition equipment is smaller than the set distance threshold value in the positioning process corresponding to the multiple positioning results according to the moving state data, and/or determining that the moving degree of the image acquisition equipment in the positioning process corresponding to the multiple positioning results does not meet the preset moving requirement when the moving angle is smaller than the set angle threshold value. Wherein, the distance threshold and the angle threshold can be set according to requirements.
For S102-S104:
here, when the positioning results obtained for multiple times do not meet the preset positioning requirement, for example, the positioning results obtained for multiple times are all positioning failures, the movement state data of the image capturing device in the positioning process corresponding to the positioning results obtained for multiple times is obtained, and the movement degree of the image capturing device is determined based on the movement state data.
And if the movement degree of the image acquisition equipment in the positioning process corresponding to the multiple positioning results does not meet the preset movement requirement according to the movement state data, sending movement prompt information on the image acquisition equipment, wherein the movement prompt information is used for prompting a user to adjust the pose information of the image acquisition equipment. The movement prompt information may be information set in advance. The movement prompt information can comprise one or more of animation information, character information, voice information, image information, AR information, vibration information and information of flickering of an indicator light. The indicator light may be any light-emitting device disposed on the image capturing apparatus, such as a flash.
Illustratively, the user may be prompted to adjust the pose information of the image capturing device by controlling the image capturing device to vibrate continuously. Or the user can be prompted to adjust the pose information of the image acquisition equipment by controlling the image acquisition equipment to send voice information and controlling the image acquisition equipment to vibrate continuously.
For example, if the positioning result obtained for multiple times continuously is positioning failure, movement state data of the image acquisition device in the positioning process corresponding to the multiple times continuously can be obtained; and judging whether the image acquisition equipment moves in the positioning process corresponding to the continuous multiple positioning results according to the movement state data. And if the image acquisition equipment is determined not to move in the positioning process corresponding to the continuous multi-time positioning result according to the movement state data, sending movement prompt information on the image acquisition equipment, wherein the movement prompt information is used for prompting a user to adjust the pose information of the image acquisition equipment.
After the prompt message is sent out, the positioning result of the image acquisition equipment after the movement prompt message is sent out can be obtained. For example, the positioning result of the image capturing device after sending the movement prompt information may be obtained through the real scene image captured by the image capturing device after the interval preset time, where the interval preset time may be set as required, for example, may be set to 1 second, 2 seconds, and the like.
Referring to fig. 2, in a positioning method, an interface schematic diagram of an AR device is shown, where the interface schematic diagram shows a movement prompt message, where the movement prompt message includes text information of "unable to identify, please shoot other scenes" and graphic information located below the text information, that is, a crying face graphic in the figure; a repositioning button is also included in the movement prompting message, namely the position corresponding to the text message of "repositioning" in the figure.
If the moving degree of the image acquisition equipment in the positioning process corresponding to the multiple positioning results meets the preset moving requirement according to the moving state data, namely the image acquisition equipment moves greatly, the image acquisition equipment continues to acquire a real scene image, sends the real scene image to the server, receives a positioning result returned by the server until the positioning is successful, and the positioning is the three-dimensional pose information of the image acquisition equipment, wherein the three-dimensional pose information comprises the position data and the orientation data of the image acquisition equipment.
Here, when the number of times of obtaining the positioning result that does not satisfy the preset positioning requirement is less than the determined positioning number, for example, when the number of times of obtaining the positioning result that does not satisfy the preset positioning requirement is 5, if the number of times of obtaining the positioning result that does not satisfy the preset positioning requirement is less than 5, the real scene image may be continuously obtained, and the real scene image is sent to the server, and then the positioning result returned by the server is received.
In an optional implementation, the sending out the movement prompting message includes: and continuously sending the movement prompt information until a user triggers a relocation request, or until the time length for sending the movement prompt information reaches a first set time length.
When the mobile prompt message is sent continuously, the user can trigger the relocation request by triggering the relocation trigger button set on the mobile prompt message, so as to execute the subsequent relocation process. Alternatively, the user may trigger the relocation request by triggering a function button on the image capture device. For example, the function button on the image capturing device may be a volume up button, a volume down button, or the like.
If the user does not trigger the repositioning request, the movement prompt information can be continuously sent out on the image acquisition equipment until the display duration reaches the first set duration position. The first set time period may be set as required, for example, the first set time period may be 30 seconds, 1 minute, and the like.
In the above embodiment, the movement prompt information may be continuously sent until the user triggers the relocation request, or until the time length for sending the movement prompt information reaches the first set time length, so as to avoid that the user does not receive the prompt information in time due to too short display time, and avoid resource waste of the image acquisition device due to too long display time.
In an alternative embodiment, the method further comprises: and after the time length for sending the mobile prompt message reaches a first set time length, ending the current positioning process and displaying the prompt message of positioning failure.
Here, after the duration of continuously sending the movement prompt information on the image acquisition device reaches the first set duration, the movement prompt information is not sent any more, the current positioning process is ended, and the prompt information of positioning failure is displayed. The prompt information of the positioning failure can also comprise prompt information for prompting a user to change the pose. For example, the prompt information of the positioning failure may be "positioning failure, please shoot other scenes", "positioning failure, please adjust the pose of the device", and the like, and refer to an interface schematic diagram of the AR device in the positioning method shown in fig. 3. Here, the prompt information of the positioning failure can be flexibly set according to actual needs.
In an alternative embodiment, the method further comprises: and after the user triggers the repositioning request, responding to the repositioning request of the user, returning to the step of shooting the image of the real scene through the image acquisition equipment and acquiring a positioning result based on the shot image of the real scene.
Here, after the user triggers the relocation request, the location procedure may be initiated again in response to the relocation request of the user, and the steps of capturing the image of the real scene by the image capturing device and obtaining the location result based on the captured image of the real scene may be returned. The relocation process corresponding to the relocation request is consistent with the processes in steps S101-S104, and is not described here again.
In the above manner, after the user triggers the repositioning request, the step of shooting the image of the real scene through the image acquisition device and acquiring the positioning result based on the shot image of the real scene can be returned to, and the positioning manner is enriched.
In an alternative embodiment, the method further comprises: and under the condition that the positioning is successful, displaying a navigation route from the current position to the destination based on the current position information obtained by the positioning and the destination information input by the user.
Here, in the navigation scenario, after the positioning is successful, the current location information of the AR device may be acquired from the server, and after the user inputs the destination information, a navigation route may be determined based on the current location information obtained by the positioning and the destination information input by the user, and the navigation route from the current location to the destination may be displayed on the AR device, so that the user may reach the destination according to the moving direction indicated by the navigation route.
It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.
Based on the same concept, an embodiment of the present disclosure further provides a positioning apparatus, as shown in fig. 4, which is a schematic structural diagram of the positioning apparatus provided in the embodiment of the present disclosure, and includes a first positioning module 401, an obtaining module 402, a determining module 403, a second positioning module 404, a displaying module 405, and a responding module 406, specifically:
the first positioning module 401 is configured to capture a real scene image through an image capture device, and obtain a positioning result based on the captured real scene image;
an obtaining module 402, configured to obtain moving state data of the image acquisition device in a positioning process corresponding to multiple positioning results when the multiple obtained positioning results do not meet a preset positioning requirement;
a determining module 403, configured to determine that a moving degree of the image acquisition device in a positioning process corresponding to a multi-positioning result does not meet a preset moving requirement according to the moving state data, and send a moving prompt message; the movement prompt information is used for prompting a user to adjust the pose information of the image acquisition equipment;
and a second positioning module 404, configured to obtain a positioning result of the image capturing device after the movement prompt information is sent out.
In a possible implementation manner, the positioning results obtained multiple times do not meet a preset positioning requirement, which includes any of the following cases:
the number of times of indicating positioning failure in the positioning results obtained for the last times is larger than a set first time threshold;
the number of positioning results with the accuracy lower than the set accuracy threshold in the positioning results obtained for the last times is larger than the set number threshold.
In a possible implementation manner, when determining, according to the movement state data, that the degree of movement of the image capturing device in the positioning process corresponding to the multiple positioning results does not meet a preset movement requirement, the determining module 403 includes:
and determining that the moving distance of the image acquisition equipment is smaller than a set distance threshold value and/or the moving angle is smaller than a set angle threshold value in the positioning process corresponding to the multiple positioning results according to the moving state data.
In a possible implementation, the first positioning module 401, when obtaining the positioning result based on the captured real scene image, is configured to:
sending the shot real scene image to a server according to a preset positioning period, and receiving a positioning result fed back by the server; each positioning period is a time period from the acquisition of the current real scene image to the acquisition of the next real scene image.
In a possible implementation, the first positioning module 401, when obtaining the positioning result based on the captured real scene image, is further configured to:
if the real scene image used for positioning in the current positioning period is sent to a server, the positioning result fed back by the server is received and does not meet the preset positioning requirement, and the moving state data of the image acquisition equipment in the current positioning period is obtained;
and if the movement degree of the image acquisition equipment in the current positioning period does not meet the set movement requirement according to the movement state data, determining the positioning result corresponding to the current positioning period as the positioning result of the next positioning period.
In a possible implementation manner, the determining module 403, when issuing the movement prompting message, is configured to:
and continuously sending the movement prompt information until a user triggers a relocation request, or until the time length for sending the movement prompt information reaches a first set time length.
In a possible embodiment, the positioning device further comprises:
the display module 405 is configured to end the current positioning process after the time length for sending the movement prompt information reaches a first set time length, and display the prompt information of positioning failure.
In a possible embodiment, the positioning device further comprises:
and a response module 406, configured to respond to the relocation request of the user after the user triggers the relocation request, and return to the step of capturing the image of the real scene by the image capture device and obtaining the positioning result based on the captured image of the real scene.
In some embodiments, the functions of the apparatus provided in the embodiments of the present disclosure or the included templates 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, no further description is provided here.
Based on the same technical concept, the embodiment of the disclosure also provides an electronic device. Referring to fig. 5, a schematic structural diagram of an electronic device provided in the embodiment of the present disclosure includes a processor 501, a memory 502, and a bus 503. The memory 502 is used for storing execution instructions and includes a memory 5021 and an external memory 5022; the memory 5021 is also referred to as an internal memory, and is used for temporarily storing operation data in the processor 501 and data exchanged with an external storage 5022 such as a hard disk, the processor 501 exchanges data with the external storage 5022 through the memory 5021, and when the electronic device 500 operates, the processor 501 communicates with the storage 502 through the bus 503, so that the processor 501 executes the following instructions:
shooting a real scene image through image acquisition equipment, and acquiring a positioning result based on the shot real scene image;
under the condition that the positioning results obtained for multiple times do not meet the preset positioning requirements, obtaining moving state data of the image acquisition equipment in the positioning process corresponding to the multiple positioning results;
if the moving degree of the image acquisition equipment in the positioning process corresponding to the multiple positioning results does not meet the preset moving requirement according to the moving state data, sending moving prompt information; the movement prompt information is used for prompting a user to adjust the pose information of the image acquisition equipment.
Furthermore, the embodiments of the present disclosure also provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the positioning method described in the above method embodiments.
The computer program product of the positioning method provided in the embodiments of the present disclosure includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the steps of the positioning method described in the above method embodiments, which may be referred to specifically for the above method embodiments, and are not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above are only specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present disclosure, and shall be covered by the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (11)
1. A method of positioning, comprising:
shooting a real scene image through image acquisition equipment, and acquiring a positioning result based on the shot real scene image;
under the condition that the positioning results obtained for multiple times do not meet the preset positioning requirements, obtaining moving state data of the image acquisition equipment in the positioning process corresponding to the multiple positioning results;
if the moving degree of the image acquisition equipment in the positioning process corresponding to the multiple positioning results does not meet the preset moving requirement according to the moving state data, sending moving prompt information; the movement prompt information is used for prompting a user to adjust the pose information of the image acquisition equipment;
and acquiring a positioning result of the image acquisition equipment after the mobile prompt information is sent out.
2. The positioning method according to claim 1, wherein the positioning results obtained for a plurality of times do not meet a preset positioning requirement, and the method comprises any one of the following conditions:
the number of times of indicating positioning failure in the positioning results obtained for the last times is larger than a set first time threshold;
the number of positioning results with the accuracy lower than the set accuracy threshold in the positioning results obtained for the last times is larger than the set number threshold.
3. The positioning method according to claim 1, wherein determining, according to the movement state data, that the degree of movement of the image capturing device in the positioning process corresponding to the multiple positioning results does not meet a preset movement requirement includes:
and determining that the moving distance of the image acquisition equipment is smaller than a set distance threshold value and/or the moving angle is smaller than a set angle threshold value in the positioning process corresponding to the multiple positioning results according to the moving state data.
4. The positioning method according to claim 1, wherein the obtaining of the positioning result based on the captured real scene image comprises:
sending the shot real scene image to a server according to a preset positioning period, and receiving a positioning result fed back by the server; each positioning period is a time period from the acquisition of the current real scene image to the acquisition of the next real scene image.
5. The positioning method according to claim 4, wherein the obtaining of the positioning result based on the captured real scene image further comprises:
if the real scene image used for positioning in the current positioning period is sent to a server, the positioning result fed back by the server is received and does not meet the preset positioning requirement, and the moving state data of the image acquisition equipment in the current positioning period is obtained;
and if the movement degree of the image acquisition equipment in the current positioning period does not meet the set movement requirement according to the movement state data, determining the positioning result corresponding to the current positioning period as the positioning result of the next positioning period.
6. The positioning method according to any one of claims 1 to 5, wherein the sending the movement prompt message comprises:
and continuously sending the movement prompt information until a user triggers a relocation request, or until the time length for sending the movement prompt information reaches a first set time length.
7. The positioning method according to claim 6, further comprising:
and after the time length for sending the mobile prompt message reaches a first set time length, ending the current positioning process and displaying the prompt message of positioning failure.
8. The positioning method according to claim 6, further comprising:
and after the user triggers the repositioning request, responding to the repositioning request of the user, returning to the step of shooting the image of the real scene through the image acquisition equipment and acquiring a positioning result based on the shot image of the real scene.
9. A positioning device, comprising:
the first positioning module is used for shooting a real scene image through image acquisition equipment and acquiring a positioning result based on the shot real scene image;
the acquisition module is used for acquiring the moving state data of the image acquisition equipment in the positioning process corresponding to the multiple positioning results under the condition that the multiple acquired positioning results do not meet the preset positioning requirements;
the determining module is used for determining that the moving degree of the image acquisition equipment in the positioning process corresponding to the multi-time positioning result does not meet the preset moving requirement according to the moving state data, and sending moving prompt information; the movement prompt information is used for prompting a user to adjust the pose information of the image acquisition equipment;
and the second positioning module is used for acquiring the positioning result of the image acquisition equipment after the mobile prompt information is sent out.
10. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the positioning method according to any one of claims 1 to 8.
11. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, is adapted to carry out the steps of the positioning method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110127348.7A CN112699884A (en) | 2021-01-29 | 2021-01-29 | Positioning method, positioning device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110127348.7A CN112699884A (en) | 2021-01-29 | 2021-01-29 | Positioning method, positioning device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112699884A true CN112699884A (en) | 2021-04-23 |
Family
ID=75516392
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110127348.7A Pending CN112699884A (en) | 2021-01-29 | 2021-01-29 | Positioning method, positioning device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112699884A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115002443A (en) * | 2022-04-29 | 2022-09-02 | 北京城市网邻信息技术有限公司 | Image acquisition processing method and device, electronic equipment and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202351897U (en) * | 2011-11-09 | 2012-07-25 | 浙江华震数字化工程有限公司 | Portable image acquisition instrument |
| US20150124111A1 (en) * | 2013-11-01 | 2015-05-07 | Sony Corporation | Information processing apparatus, information processing method, and program |
| US20170278263A1 (en) * | 2016-03-25 | 2017-09-28 | Casio Computer Co., Ltd. | Image processing device, image processing method, and computer-readable recording medium |
| CN108140124A (en) * | 2017-12-20 | 2018-06-08 | 深圳前海达闼云端智能科技有限公司 | Prompt information determination method and device, electronic equipment and computer program product |
| US20190012840A1 (en) * | 2017-07-07 | 2019-01-10 | Escher Reality, LLC | Cloud enabled augmented reality |
| CN109255817A (en) * | 2018-09-14 | 2019-01-22 | 北京猎户星空科技有限公司 | A kind of the vision method for relocating and device of smart machine |
| CN111595349A (en) * | 2020-06-28 | 2020-08-28 | 浙江商汤科技开发有限公司 | Navigation method and device, electronic equipment and storage medium |
| CN111862213A (en) * | 2020-07-29 | 2020-10-30 | Oppo广东移动通信有限公司 | Positioning method and device, electronic equipment and computer readable storage medium |
| CN112181141A (en) * | 2020-09-23 | 2021-01-05 | 北京市商汤科技开发有限公司 | AR positioning method, AR positioning device, electronic equipment and storage medium |
-
2021
- 2021-01-29 CN CN202110127348.7A patent/CN112699884A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202351897U (en) * | 2011-11-09 | 2012-07-25 | 浙江华震数字化工程有限公司 | Portable image acquisition instrument |
| US20150124111A1 (en) * | 2013-11-01 | 2015-05-07 | Sony Corporation | Information processing apparatus, information processing method, and program |
| US20170278263A1 (en) * | 2016-03-25 | 2017-09-28 | Casio Computer Co., Ltd. | Image processing device, image processing method, and computer-readable recording medium |
| US20190012840A1 (en) * | 2017-07-07 | 2019-01-10 | Escher Reality, LLC | Cloud enabled augmented reality |
| CN108140124A (en) * | 2017-12-20 | 2018-06-08 | 深圳前海达闼云端智能科技有限公司 | Prompt information determination method and device, electronic equipment and computer program product |
| CN109255817A (en) * | 2018-09-14 | 2019-01-22 | 北京猎户星空科技有限公司 | A kind of the vision method for relocating and device of smart machine |
| CN111595349A (en) * | 2020-06-28 | 2020-08-28 | 浙江商汤科技开发有限公司 | Navigation method and device, electronic equipment and storage medium |
| CN111862213A (en) * | 2020-07-29 | 2020-10-30 | Oppo广东移动通信有限公司 | Positioning method and device, electronic equipment and computer readable storage medium |
| CN112181141A (en) * | 2020-09-23 | 2021-01-05 | 北京市商汤科技开发有限公司 | AR positioning method, AR positioning device, electronic equipment and storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115002443A (en) * | 2022-04-29 | 2022-09-02 | 北京城市网邻信息技术有限公司 | Image acquisition processing method and device, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107483834B (en) | Image processing method, continuous shooting method and device and related medium product | |
| CN107562189B (en) | Space positioning method based on binocular camera and service equipment | |
| CN112181141B (en) | AR positioning method and device, electronic equipment and storage medium | |
| CN109582122B (en) | Augmented reality information providing method and device and electronic equipment | |
| WO2019109828A1 (en) | Ar service processing method, device, server, mobile terminal, and storage medium | |
| CN110545442A (en) | live broadcast interaction method and device, electronic equipment and readable storage medium | |
| CN112291473B (en) | Focusing method and device and electronic equipment | |
| EP4191513A1 (en) | Image processing method and apparatus, device and storage medium | |
| CN111569414B (en) | Flight display method and device of virtual aircraft, electronic equipment and storage medium | |
| CN112699884A (en) | Positioning method, positioning device, electronic equipment and storage medium | |
| CN108965861B (en) | Method and device for positioning camera, storage medium and intelligent interaction equipment | |
| CN114638885A (en) | Intelligent space labeling method and system, electronic equipment and storage medium | |
| CN112788244B (en) | Shooting method, shooting device and electronic equipment | |
| CN113178017A (en) | AR data display method and device, electronic equipment and storage medium | |
| CN112788443B (en) | Interaction method and system based on optical communication device | |
| KR101542477B1 (en) | Method, apparatus, and terminal device for generating and processing information | |
| CN112511743A (en) | Video shooting method and device | |
| CN111242107B (en) | Method and electronic device for setting virtual object in space | |
| CN113093915A (en) | Multi-person interaction control method, device, equipment and storage medium | |
| CN114266305A (en) | Object identification method and device, electronic equipment and storage medium | |
| CN112817454A (en) | Information display method and device, related equipment and storage medium | |
| CN112927293A (en) | AR scene display method and device, electronic equipment and storage medium | |
| CN112802097B (en) | Positioning method, positioning device, electronic equipment and storage medium | |
| CN112461245A (en) | Data processing method and device, electronic equipment and storage medium | |
| CN111953849A (en) | Method and device for displaying message board, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |