CN112785519B - Panorama-based positioning error calibration method, device, equipment and storage medium - Google Patents
Panorama-based positioning error calibration method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a positioning error calibration method, a device, equipment and a storage medium based on a panoramic image, wherein the method comprises the following steps: acquiring a panoramic image and an initial positioning error corresponding to the panoramic image; respectively acquiring a target position of a target point to be positioned and a current reference position of a camera device according to the panoramic image; calculating to obtain the positioning moving distance of the camera device according to the initial positioning error, the target position and the current reference position; controlling the camera to move according to the positioning moving distance, and acquiring the actual reference position of the moved camera on the panoramic image; and calculating to obtain a calibration positioning error of the panoramic image according to the initial positioning error, the current reference position, the actual reference position and the target position. According to the embodiment of the invention, the positioning error of the panoramic image can be effectively reduced by calibrating the positioning error, so that the panoramic image is positioned more accurately.
Description
Technical Field
The present invention relates to the field of image processing technologies, and in particular, to a positioning error calibration method, device, equipment and storage medium based on panoramic images.
Background
In the current mainstream panorama positioning method, firstly, a panorama (the width and the height of the panorama are respectively W and H) is generated by a cylindrical projection method according to single-view images of a plurality of views, then a user designates a point of interest as A '(W and H) on the panorama, and the calculation can be carried out through the coordinates of A', so that the angle or the pixel distance of the camera which needs to rotate from the current point is obtained.
However, the pixel distance calculated by the method has errors such as projection errors and matching errors, and the camera cannot move to the position A' designated by the user after rotating according to the pixel distance calculated by the main stream method due to the errors. For example, assuming that the position a' designated by the user is an apple, after the camera rotates according to the pixel distance calculated by the method, the position corresponding to the center of the camera is not the apple, so that the panorama positioning is inaccurate.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a positioning error calibration method, a device, equipment and a storage medium based on a panoramic image, which can effectively reduce the positioning error of the panoramic image and enable the positioning of the panoramic image to be more accurate.
In order to achieve the above object, an embodiment of the present invention provides a positioning error calibration method based on panoramic images, including:
acquiring a panoramic image and an initial positioning error corresponding to the panoramic image;
Respectively acquiring a target position of a target point to be positioned and a current reference position of a camera device according to the panoramic image;
Calculating to obtain the positioning moving distance of the camera device according to the initial positioning error, the target position and the current reference position;
Controlling the camera to move according to the positioning moving distance, and acquiring the actual reference position of the moved camera on the panoramic image;
and calculating to obtain a calibration positioning error of the panoramic image according to the initial positioning error, the current reference position, the actual reference position and the target position.
As an improvement of the above solution, the obtaining the panorama specifically includes:
Controlling the camera to rotate along a preset direction to acquire images under a plurality of poses;
And carrying out cylindrical projection on the images under the multiple poses, and then carrying out image stitching to obtain a panoramic image.
As an improvement of the above solution, the calculating the positioning moving distance of the image capturing device according to the initial positioning error, the target position and the current reference position specifically includes:
Calculating to obtain the positioning moving distance d of the camera device according to a formula d= (w a-wa')/(1-e);
Where w a represents the coordinate corresponding to the current reference position, w a' represents the coordinate corresponding to the target position, and e represents the initial positioning error.
As an improvement of the above solution, the controlling the image capturing device to move according to the positioning moving distance, and acquiring an actual reference position of the moved image capturing device on the panorama specifically includes:
controlling the camera device to move according to the positioning moving distance;
collecting images after the camera device moves;
acquiring the position of a central point of the image;
and acquiring an actual reference position corresponding to the central point position on the panoramic view.
As an improvement of the above solution, the calculating a calibration positioning error of the panorama according to the initial positioning error, the current reference position, the actual reference position and the target position specifically includes:
Calculating according to se:Sub>A formulse:Sub>A e now = |C-A ' |/|se:Sub>A-se:Sub>A ' | to obtain se:Sub>A current positioning error e now of the panoramse:Sub>A, wherein C represents se:Sub>A coordinate corresponding to an actual reference position, A represents se:Sub>A coordinate corresponding to the current reference position, and A ' represents se:Sub>A coordinate corresponding to se:Sub>A target position;
And calculating a calibration positioning error e new of the panorama according to a formula e new＝u×e+(1-u)×enow, wherein u is a constant, and e represents an initial positioning error.
As an improvement of the above solution, the method further includes:
Judging whether the calibration positioning error is larger than a preset threshold value or not;
If yes, taking the calibration positioning error as an initial positioning error, and returning to the step of respectively acquiring the target position of the target point to be positioned and the current reference position of the camera device according to the panoramic image.
The embodiment of the invention also provides a positioning error calibration device based on the panorama, which comprises the following steps:
The first acquisition module is used for acquiring a panoramic image and an initial positioning error corresponding to the panoramic image;
The second acquisition module is used for respectively acquiring the target position of the target point to be positioned and the current reference position of the camera device according to the panoramic image;
The calculation module is used for calculating the positioning moving distance of the camera device according to the initial positioning error, the target position and the current reference position;
the moving module is used for controlling the camera to move according to the positioning moving distance and acquiring the actual reference position of the moved camera on the panoramic image;
And the calibration module is used for calculating the calibration positioning error of the panoramic image according to the initial positioning error, the current reference position, the actual reference position and the target position.
Further, the device further comprises:
The judging module is used for judging whether the calibration positioning error is larger than a preset threshold value or not; if yes, the calibration positioning error is used as an initial positioning error, and the second acquisition module is returned.
The embodiment of the invention also provides a terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor realizes the positioning error calibration method based on the panorama when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program, wherein the computer program is used for controlling equipment where the computer readable storage medium is located to execute the panorama-based positioning error calibration method.
Compared with the prior art, the positioning error calibration method, device and equipment based on the panoramic image and the storage medium have the beneficial effects that: acquiring a panoramic image and an initial positioning error corresponding to the panoramic image; respectively acquiring a target position of a target point to be positioned and a current reference position of a camera device according to the panoramic image; calculating to obtain the positioning moving distance of the camera device according to the initial positioning error, the target position and the current reference position; controlling the camera to move according to the positioning moving distance, and acquiring the actual reference position of the moved camera on the panoramic image; and calculating to obtain a calibration positioning error of the panoramic image according to the initial positioning error, the current reference position, the actual reference position and the target position. According to the embodiment of the invention, the positioning error of the panoramic image can be effectively reduced by calibrating the positioning error, so that the panoramic image is positioned more accurately.
Drawings
FIG. 1 is a flow chart of a preferred embodiment of a panorama-based positioning error calibration method according to the present invention;
FIG. 2 is a schematic view of a positioning error calibration device based on panoramic view according to a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of a preferred embodiment of a terminal device according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flowchart of a preferred embodiment of a positioning error calibration method based on panoramic image according to the present invention. The panorama-based positioning error calibration method comprises the following steps:
s1, acquiring a panoramic image and an initial positioning error corresponding to the panoramic image;
s2, respectively acquiring a target position of a target point to be positioned and a current reference position of the camera device according to the panoramic image;
s3, calculating to obtain the positioning moving distance of the camera device according to the initial positioning error, the target position and the current reference position;
S4, controlling the camera to move according to the positioning moving distance, and acquiring the actual reference position of the moved camera on the panoramic image;
S5, calculating to obtain the calibration positioning error of the panoramic image according to the initial positioning error, the current reference position, the actual reference position and the target position.
Specifically, firstly, a panoramic image and an initial positioning error corresponding to the panoramic image are obtained; then, respectively acquiring a target position of a target point to be positioned on the panoramic image and a current reference position of the camera device on the panoramic image according to the panoramic image, wherein the current reference position of the camera device on the panoramic image is a position corresponding to a central point of the camera device on the panoramic image; then calculating to obtain the positioning moving distance of the camera device according to the initial positioning error corresponding to the panoramic image, the target position of the target point to be positioned and the current reference position of the camera device; controlling the camera to move according to the positioning moving distance, and acquiring an actual reference position of the moved camera on the panoramic image, wherein the actual reference position and the target position do not coincide due to the existence of errors; and calculating the calibration positioning error of the panoramic image according to the initial positioning error, the current reference position, the actual reference position and the target position, thereby realizing the calibration of the positioning error of the panoramic image.
The initial positioning error of the panorama is expressed as a unit distance on the panorama, without a unit, and corresponds to the actual pixel distance. The initial positioning errors may be uniformly distributed or unevenly distributed on the panorama. The uniformly distributed initial positioning errors refer to the same positioning errors in each region of the whole panorama, and the unevenly distributed initial positioning errors refer to the different initial positioning errors in different regions of the panorama. For example, the panorama is divided into an overlapping region R 1 and a non-overlapping region R 2, where the overlapping region refers to a portion where adjacent images overlap after stitching, and this portion refers to other factors such as stitching accuracy, where the error is usually larger, and may be set to e 1, and the non-overlapping region error is set to e 2, and both may be regarded as uniform distribution of different coefficients in the respective regions. The initial positioning error for the non-overlapping region R 2 can be further refined, and the error distribution in R 2 can be further fitted because the error in the center position of the image is minimal after cylindrical projection, and the error is greater as the image approaches the two sides.
According to the embodiment, the calibration positioning error of the panoramic image is obtained through calculation according to the initial positioning error of the panoramic image, the current reference position and the actual reference position of the camera device and the target position, so that the positioning error is calibrated, the positioning error of the panoramic image can be effectively reduced, and the panoramic image is positioned more accurately.
In another preferred embodiment, the obtaining the panorama specifically includes:
S101, controlling the camera to rotate along a preset direction, and acquiring images under a plurality of pose;
s102, performing cylindrical projection on the images under the multiple poses, and then performing image stitching to obtain a panoramic image.
Specifically, the camera device is controlled to move along a preset direction, images under a plurality of pose are obtained, then cylindrical projection is carried out on the images under the plurality of pose, and the images after cylindrical projection are subjected to image stitching, so that a panoramic image is obtained.
It should be noted that the image capturing apparatus is controlled to move in a preset direction, wherein the preset direction includes, but is not limited to, a clockwise direction and a counterclockwise direction.
According to the embodiment, the cylindrical projection is carried out on the images under the multiple postures of the camera device, then the image stitching is carried out, various redundancies can be removed, the vision consistency is met, and therefore a panoramic image with good quality is obtained.
In another preferred embodiment, the calculating the positioning moving distance of the image capturing device according to the initial positioning error, the target position and the current reference position specifically includes:
Calculating to obtain the positioning moving distance d of the camera device according to a formula d= (w a-wa')/(1-e);
Where w a represents the coordinate corresponding to the current reference position, w a' represents the coordinate corresponding to the target position, and e represents the initial positioning error.
Specifically, when calculating the positioning movement distance of the image pickup device according to the initial positioning error, the target position and the current reference position, calculating the positioning movement distance d of the image pickup device by adopting a formula d= (w a-wa')/(1-e); where w a represents the coordinate corresponding to the current reference position, w a' represents the coordinate corresponding to the target position, and e represents the initial positioning error.
Note that, the initial value of the initial positioning error e is 0,w a, which represents the abscissa or the ordinate of the coordinate corresponding to the current reference position, and w a' represents the abscissa or the ordinate of the coordinate corresponding to the target position. When w a is selected as the abscissa, w a' is also selected as the abscissa, and the ordinate of both are equal; when w a is taken as the ordinate, w a' is also taken as the ordinate, and the abscissa of the two is equal. For example, when the image capturing device moves in the horizontal direction, the center point of the image capturing device screen is always at the H/2 height in the vertical direction of the panorama, if the ordinate of the coordinate corresponding to the target position is not at the H/2 height in the vertical direction of the panorama, the position corresponding to the H/2 height in the vertical direction of the panorama is calculated, and the position is taken as the target position, so that the ordinate of the coordinate corresponding to the target position and the ordinate of the center point of the image capturing device screen are kept equal.
Preferably, the controlling the image capturing device to move according to the positioning moving distance, and acquiring an actual reference position of the moved image capturing device on the panorama specifically includes:
s401, controlling the image pickup device to move according to the positioning moving distance;
S402, acquiring images after the camera device moves;
s403, acquiring the position of a central point of the image;
s404, acquiring an actual reference position corresponding to the center point position on the panorama.
Specifically, after the positioning moving distance of the image pickup device is obtained, the image pickup device is controlled to move according to the positioning moving distance, the image after the movement of the image pickup device is collected, the center point position of the image after the movement is obtained at the same time, and then the actual reference position corresponding to the center point position on the panoramic image is obtained through a searching method.
It should be noted that, the actual reference position corresponding to the center point position on the panorama is obtained by a search method, where the search method includes, but is not limited to, a template matching method.
In another preferred embodiment, the calculating the calibration positioning error of the panorama according to the initial positioning error, the current reference position, the actual reference position and the target position specifically includes:
Calculating according to se:Sub>A formulse:Sub>A e now = |C-A ' |/|se:Sub>A-se:Sub>A ' | to obtain se:Sub>A current positioning error e now of the panoramse:Sub>A, wherein C represents se:Sub>A coordinate corresponding to an actual reference position, A represents se:Sub>A coordinate corresponding to the current reference position, and A ' represents se:Sub>A coordinate corresponding to se:Sub>A target position;
And calculating a calibration positioning error e new of the panorama according to a formula e new＝u×e+(1-u)×enow, wherein u is a constant, and e represents an initial positioning error.
Specifically, se:Sub>A current positioning error e now of the panoramse:Sub>A is obtained by calculation according to se:Sub>A formulse:Sub>A e now = |C-A ' |/|se:Sub>A-se:Sub>A ' |, wherein C represents se:Sub>A coordinate corresponding to an actual reference position, A represents se:Sub>A coordinate corresponding to the current reference position, and A ' represents se:Sub>A coordinate corresponding to se:Sub>A target position; and then calculating a calibration positioning error e new of the panorama according to a formula e new＝u×e+(1-u)×enow, wherein u is a constant, and e represents an initial positioning error.
U represents a learning rate, and is generally 0.9.
In a further preferred embodiment, the method further comprises:
Judging whether the calibration positioning error is larger than a preset threshold value or not;
If yes, taking the calibration positioning error as an initial positioning error, and returning to the step of respectively acquiring the target position of the target point to be positioned and the current reference position of the camera device according to the panoramic image.
Specifically, judging whether the calibration positioning error is larger than a preset threshold value or not; if not, indicating that the positioning is accurate; if yes, taking the calibration positioning error as an initial positioning error, returning to the step S2, respectively acquiring a target position of a target point to be positioned and a current reference position of the camera device according to the panoramic image, and continuing to perform the steps S3 to S5 until the calibration error is not greater than a preset threshold value, thereby realizing accurate positioning.
For example, when the ith positioning is completed and the final actual reference position is C, the imaging device continues to perform positioning in this state to reduce the error. When the (i+1) th positioning is performed, the initial positioning error is a calibration positioning error after the i th positioning is finished, the target position is still A ', the current reference position A of the image pickup device is the actual reference position C after the i th positioning is finished, the positioning moving distance d of the image pickup device is calculated according to a formula d= (w a-wa ')/(1-e), the image pickup device is controlled to move according to the positioning moving distance d, the actual reference position of the moved image pickup device on the panoramic image is obtained, and then the calibration positioning error of the panoramic image is calculated according to the initial positioning error, the current reference position, the actual reference position and the target position, so that the target position A ' is gradually approximated, the positioning error is reduced, and the panoramic image positioning is more accurate.
Correspondingly, the invention also provides a positioning error calibration device based on the panorama, which can realize all the flows of the positioning error calibration method based on the panorama in the embodiment.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a positioning error calibration device based on panoramic view according to a preferred embodiment of the present invention. The panorama-based positioning error calibration device comprises:
A first obtaining module 201, configured to obtain a panorama and an initial positioning error corresponding to the panorama;
a second obtaining module 202, configured to obtain, according to the panorama, a target position of a target point to be positioned and a current reference position of the camera device;
a calculating module 203, configured to calculate a positioning moving distance of the image capturing device according to the initial positioning error, the target position, and the current reference position;
The moving module 204 is configured to control the camera to move according to the positioning moving distance, and obtain an actual reference position of the moved camera on the panorama;
And the calibration module 205 is configured to calculate a calibration positioning error of the panorama according to the initial positioning error, the current reference position, the actual reference position and the target position.
Preferably, the first obtaining module 201 is further configured to:
Controlling the camera to rotate along a preset direction to acquire images under a plurality of poses;
And carrying out cylindrical projection on the images under the multiple poses, and then carrying out image stitching to obtain a panoramic image.
Preferably, the computing module 203 is specifically:
Calculating to obtain the positioning moving distance d of the camera device according to a formula d= (w a-wa')/(1-e);
Where w a represents the coordinate corresponding to the current reference position, w a' represents the coordinate corresponding to the target position, and e represents the initial positioning error.
Preferably, the mobile module 204 is specifically:
controlling the camera device to move according to the positioning moving distance;
collecting images after the camera device moves;
acquiring the position of a central point of the image;
and acquiring an actual reference position corresponding to the central point position on the panoramic view.
Preferably, the calibration module 205 is specifically:
Calculating according to se:Sub>A formulse:Sub>A e now = |C-A ' |/|se:Sub>A-se:Sub>A ' | to obtain se:Sub>A current positioning error e now of the panoramse:Sub>A, wherein C represents se:Sub>A coordinate corresponding to an actual reference position, A represents se:Sub>A coordinate corresponding to the current reference position, and A ' represents se:Sub>A coordinate corresponding to se:Sub>A target position;
And calculating a calibration positioning error e new of the panorama according to a formula e new＝u×e+(1-u)×enow, wherein u is a constant, and e represents an initial positioning error.
Preferably, the apparatus further comprises:
The judging module is used for judging whether the calibration positioning error is larger than a preset threshold value or not; if yes, the calibration positioning error is taken as an initial positioning error, and the second acquisition module 202 is returned.
In specific implementation, the working principle, control flow and technical effects of the positioning error calibration device based on panoramic image provided by the embodiment of the present invention are the same as those of the positioning error calibration method based on panoramic image in the above embodiment, and are not described herein again.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a preferred embodiment of a terminal device according to the present invention. The terminal device comprises a processor 301, a memory 302 and a computer program stored in the memory 302 and configured to be executed by the processor 301, wherein the processor 301 implements the panorama-based positioning error calibration method according to any of the embodiments described above when executing the computer program.
Preferably, the computer program may be divided into one or more modules/units (e.g. computer program 1, computer program 2, … …) stored in the memory 302 and executed by the processor 301 to complete the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program in the terminal device.
The Processor 301 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc., or the Processor 301 may be a microprocessor, or the Processor 301 may be any conventional Processor, the Processor 301 being a control center of the terminal device, connecting the various parts of the terminal device using various interfaces and lines.
The memory 302 mainly includes a program storage area, which may store an operating system, application programs required for at least one function, and the like, and a data storage area, which may store related data and the like. In addition, the memory 302 may be a high-speed random access memory, a nonvolatile memory such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), etc., or the memory 302 may be other volatile solid-state memory devices.
It should be noted that the above-mentioned terminal device may include, but is not limited to, a processor, a memory, and those skilled in the art will understand that the schematic structural diagram of fig. 3 is merely an example of the above-mentioned terminal device, and does not limit the above-mentioned terminal device, and may include more or fewer components than those shown, or may combine some components or different components.
The embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program, wherein the computer program is used for controlling equipment where the computer readable storage medium is located to execute the positioning error calibration method based on the panorama.
According to the positioning error calibration method, device and equipment based on the panoramic image and the storage medium, the panoramic image and the initial positioning error corresponding to the panoramic image are obtained; respectively acquiring a target position of a target point to be positioned and a current reference position of a camera device according to the panoramic image; calculating to obtain the positioning moving distance of the camera device according to the initial positioning error, the target position and the current reference position; controlling the camera to move according to the positioning moving distance, and acquiring the actual reference position of the moved camera on the panoramic image; and calculating to obtain a calibration positioning error of the panoramic image according to the initial positioning error, the current reference position, the actual reference position and the target position. According to the embodiment of the invention, the positioning error of the panoramic image can be effectively reduced by calibrating the positioning error, so that the panoramic image is positioned more accurately.
It should be noted that the system embodiments described above are merely illustrative, and that the units described as separate units may or may not be physically separate, and that units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the system embodiment of the present invention, the connection relationship between the modules represents that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (8)
1. A panorama-based positioning error calibration method, comprising:
acquiring a panoramic image and an initial positioning error corresponding to the panoramic image;
Respectively acquiring a target position of a target point to be positioned and a current reference position of a camera device according to the panoramic image;
Calculating to obtain the positioning moving distance of the camera device according to the initial positioning error, the target position and the current reference position;
Controlling the camera to move according to the positioning moving distance, and acquiring the actual reference position of the moved camera on the panoramic image;
calculating a calibration positioning error of the panoramic image according to the initial positioning error, the current reference position, the actual reference position and the target position;
the calculating according to the initial positioning error, the target position and the current reference position to obtain a positioning moving distance of the image capturing device specifically includes:
Calculating to obtain the positioning moving distance d of the camera device according to a formula d= (w a-wa')/(1-e);
wherein w a represents a coordinate corresponding to the current reference position, w a' represents a coordinate corresponding to the target position, and e represents an initial positioning error;
The calculating a calibration positioning error of the panorama according to the initial positioning error, the current reference position, the actual reference position and the target position specifically includes:
Calculating according to se:Sub>A formulse:Sub>A e now = |C-A ' |/|se:Sub>A-se:Sub>A ' | to obtain se:Sub>A current positioning error e now of the panoramse:Sub>A, wherein C represents se:Sub>A coordinate corresponding to an actual reference position, A represents se:Sub>A coordinate corresponding to the current reference position, and A ' represents se:Sub>A coordinate corresponding to se:Sub>A target position;
And calculating a calibration positioning error e new of the panorama according to a formula e new＝u×e+(1-u)×enow, wherein u is a constant, and e represents an initial positioning error.
2. The panorama-based positioning error calibration method according to claim 1, wherein said obtaining a panorama comprises:
Controlling the camera to rotate along a preset direction to acquire images under a plurality of poses;
And carrying out cylindrical projection on the images under the multiple poses, and then carrying out image stitching to obtain a panoramic image.
3. The panorama-based positioning error calibration method according to claim 1, wherein said controlling the image capturing device to move according to the positioning movement distance and obtaining the actual reference position of the moved image capturing device on the panorama comprises:
controlling the camera device to move according to the positioning moving distance;
collecting images after the camera device moves;
acquiring the position of a central point of the image;
and acquiring an actual reference position corresponding to the central point position on the panoramic view.
4. A panorama-based positioning error calibration method according to any one of claims 1-3, wherein the method further comprises:
Judging whether the calibration positioning error is larger than a preset threshold value or not;
If yes, taking the calibration positioning error as an initial positioning error, and returning to the step of respectively acquiring the target position of the target point to be positioned and the current reference position of the camera device according to the panoramic image.
5. A panorama-based positioning error correction apparatus, comprising:
The first acquisition module is used for acquiring a panoramic image and an initial positioning error corresponding to the panoramic image;
The second acquisition module is used for respectively acquiring the target position of the target point to be positioned and the current reference position of the camera device according to the panoramic image;
The calculation module is used for calculating the positioning moving distance of the camera device according to the initial positioning error, the target position and the current reference position;
the moving module is used for controlling the camera to move according to the positioning moving distance and acquiring the actual reference position of the moved camera on the panoramic image;
The calibration module is used for calculating a calibration positioning error of the panoramic image according to the initial positioning error, the current reference position, the actual reference position and the target position;
The calculation module specifically comprises:
Calculating to obtain the positioning moving distance d of the camera device according to a formula d= (w a-wa')/(1-e);
wherein w a represents a coordinate corresponding to the current reference position, w a' represents a coordinate corresponding to the target position, and e represents an initial positioning error;
the calibration module specifically comprises:
Calculating according to se:Sub>A formulse:Sub>A e now = |C-A ' |/|se:Sub>A-se:Sub>A ' | to obtain se:Sub>A current positioning error e now of the panoramse:Sub>A, wherein C represents se:Sub>A coordinate corresponding to an actual reference position, A represents se:Sub>A coordinate corresponding to the current reference position, and A ' represents se:Sub>A coordinate corresponding to se:Sub>A target position;
And calculating a calibration positioning error e new of the panorama according to a formula e new＝u×e+(1-u)×enow, wherein u is a constant, and e represents an initial positioning error.
6. The panorama-based positioning error calibration device according to claim 5, further comprising:
The judging module is used for judging whether the calibration positioning error is larger than a preset threshold value or not; if yes, the calibration positioning error is used as an initial positioning error, and the second acquisition module is returned.
7. A terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the panorama-based positioning error calibration method according to any one of claims 1-4 when the computer program is executed.
8. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform the panorama based positioning error calibration method according to any one of claims 1 to 4.
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