CN112950712B

CN112950712B - Positioning method and device, electronic equipment and storage medium

Info

Publication number: CN112950712B
Application number: CN202110214924.1A
Authority: CN
Inventors: 卢金莲; 张建博
Original assignee: Shenzhen TetrasAI Technology Co Ltd
Current assignee: Shenzhen TetrasAI Technology Co Ltd
Priority date: 2021-02-25
Filing date: 2021-02-25
Publication date: 2023-03-24
Anticipated expiration: 2041-02-25
Also published as: JP2023520278A; WO2022179080A1; CN112950712A; JP7387002B2

Abstract

The disclosure relates to a positioning method and apparatus, an electronic device and a storage medium, wherein the method comprises: tracking and positioning the electronic equipment to obtain first position information of the electronic equipment; under the condition that a target reference object is identified in image information acquired by the electronic equipment at the current moment, second position information of the target reference object is acquired; and positioning the electronic equipment according to the first position information and the second position information to obtain real-time position information of the electronic equipment. The positioning accuracy of the electronic equipment can be improved.

Description

Positioning method and device, electronic equipment and storage medium

Technical Field

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

Background

With the development of AR (Augmented Reality) technology, AR technology has been applied to many scenes, such as: scenes such as AR navigation, AR games and the like bring great convenience and much fun to the life of people.

Disclosure of Invention

The present disclosure proposes a technical solution for positioning.

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

tracking and positioning the electronic equipment to obtain first position information of the electronic equipment;

under the condition that a target reference object is identified in image information acquired by the electronic equipment at the current moment, second position information of the target reference object is acquired;

and positioning the electronic equipment according to the first position information and the second position information to obtain real-time position information of the electronic equipment.

According to the positioning method provided by the embodiment of the disclosure, the second position information of the target reference object can be referred to, and the accuracy of the first position information of the tracking and positioning of the electronic device is judged so as to obtain the real-time position information of the electronic device, so that the tracking and positioning accuracy of the electronic device can be improved, and the user experience can be improved.

In a possible implementation manner, the positioning the electronic device according to the first location information and the second location information to obtain real-time location information of the electronic device includes:

determining a deviation value of the first position information according to the first position information and the second position information;

and positioning the electronic equipment according to the deviation value and the difference threshold value of the first position information to obtain the real-time position information of the electronic equipment.

The positioning method provided by the embodiment of the disclosure can correct the position information of the electronic device in time, improve the positioning accuracy of the electronic device, and improve the user experience.

In a possible implementation manner, the positioning the electronic device according to the deviation value and the difference threshold of the first location information to obtain the real-time location information of the electronic device includes:

under the condition that the deviation value of the first position information is larger than or equal to a difference threshold value, position correction is carried out on the electronic equipment to obtain corrected position information;

and taking the corrected position information as the real-time position information of the electronic equipment.

In a possible implementation manner, the performing location correction on the electronic device to obtain corrected location information includes:

determining a device correction condition met by the electronic device according to the target reference object;

and according to the correction mode corresponding to the equipment correction condition met by the electronic equipment, carrying out position correction on the electronic equipment to obtain corrected position information.

The positioning method provided by the embodiment of the disclosure can correct the position of the electronic device by adopting a proper correction mode, and can improve the accuracy of the position information of the electronic device and the correction efficiency.

In a possible implementation manner, the performing, by the electronic device, a location correction on the electronic device according to a correction manner corresponding to the device correction condition that is satisfied by the electronic device to obtain corrected location information includes:

determining that the second position information is the corrected position information when the electronic device satisfies the first correction condition.

The positioning method provided by the embodiment of the disclosure can directly use the second position information as the corrected position information, thereby improving the correction efficiency and the positioning accuracy of the electronic device.

In a possible implementation manner, the determining, according to the target reference object, a device calibration condition that is satisfied by the electronic device includes:

determining that the electronic device satisfies the first correction condition when a distance between the target reference object and the electronic device is less than or equal to a first distance threshold or when size information of the target reference object in the image information is greater than or equal to a first size threshold.

under the condition that the electronic equipment meets the second correction condition, performing visual positioning on the electronic equipment to obtain third position information of the electronic equipment;

determining the third location information as the corrected location information.

According to the positioning method provided by the embodiment of the disclosure, the position of the electronic equipment can be corrected in a mode of carrying out visual positioning on the electronic equipment again, and the positioning accuracy of the electronic equipment can be improved.

In a possible implementation manner, in a case that the electronic device satisfies the second correction condition, visually positioning the electronic device to obtain third position information of the electronic device includes:

under the condition that the electronic equipment meets the second correction condition, outputting prompt information, wherein the prompt information is used for prompting the electronic equipment to move so as to acquire an environmental image around the electronic equipment;

and under the condition that the environmental image around the electronic equipment is acquired, carrying out visual positioning on the electronic equipment according to the environmental image to obtain third position information of the electronic equipment.

According to the positioning method provided by the embodiment of the disclosure, the user can be guided to move the electronic equipment through the prompt information, and then the surrounding environment image is collected for visual positioning, so that the tracking positioning result of the electronic equipment is corrected according to the visual positioning result, the user experience can be improved through an interactive mode, the positioning efficiency is further improved, and the positioning accuracy is improved.

determining that the electronic device satisfies the second correction condition if a distance between the target reference object and the electronic device is greater than a first distance threshold and less than or equal to a second distance threshold, or if size information of the target reference object in the image information is greater than or equal to a second size threshold and less than a first size threshold, wherein the first distance threshold is less than the second distance threshold, and the first size threshold is greater than the second size threshold.

and taking the first position information as the real-time position information of the electronic equipment under the condition that the deviation value of the first position information is smaller than the difference threshold value.

In a possible implementation manner, the acquiring, when a target reference object is identified in image information acquired by the electronic device at the current time, second position information of the target reference object includes:

determining whether the electronic equipment meets a reference object correction condition or not under the condition that the target reference object is identified in the image information acquired by the electronic equipment at the current moment;

and acquiring second position information of the target reference object under the condition that the electronic equipment meets the reference object correction condition.

According to the positioning method provided by the embodiment of the disclosure, when the distance between the target reference object and the electronic device is proper, the second position information of the target reference object can be obtained to judge whether the second position information of the electronic device needs to be corrected, so that the positioning accuracy of the electronic device can be improved.

In a possible implementation manner, in a case that the target reference object is identified in the image information acquired by the electronic device at the current time, determining whether the electronic device satisfies a reference object correction condition includes:

determining that the electronic device satisfies the reference object correction condition if a distance between the target reference object and the electronic device is less than or equal to a second distance threshold or if size information of the target reference object in the image information is greater than or equal to a second size threshold.

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

the tracking module is used for tracking and positioning the electronic equipment to obtain first position information of the electronic equipment;

the acquisition module is used for acquiring second position information of a target reference object under the condition that the target reference object is identified in the image information acquired by the electronic equipment at the current moment;

and the positioning module is used for positioning the electronic equipment according to the first position information and the second position information to obtain the real-time position information of the electronic equipment.

In a possible implementation manner, the positioning module is further configured to:

In a possible implementation manner, the device correction condition includes a first correction condition, and the positioning module is further configured to:

determining that the electronic device satisfies the first correction condition if a distance between the target reference object and the electronic device is less than or equal to a first distance threshold or if size information of the target reference object in the image information is greater than or equal to a first size threshold.

In a possible implementation manner, the device correction condition includes a second correction condition, and the positioning module is further configured to:

outputting prompt information under the condition that the electronic equipment meets the second correction condition, wherein the prompt information is used for prompting the electronic equipment to move so as to acquire an environment image around the electronic equipment;

In a possible implementation manner, the obtaining module is further configured to:

and acquiring second position information of the target reference object when the electronic equipment meets the reference object correction condition.

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

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

In the embodiment of the disclosure, the electronic device may be tracked and located to obtain first position information of the electronic device, and when a target reference object is identified in image information acquired by the electronic device at the current time, second position information of the target reference object may be acquired, and the electronic device may be located according to the first position information and the second position information to obtain real-time position information of the electronic device. According to the positioning method and device, the electronic device and the storage medium provided by the embodiment of the disclosure, since the second position information of the target reference object can be referred to, the accuracy of the first position information of the tracking and positioning of the electronic device is judged to obtain the real-time position information of the electronic device, the tracking and positioning accuracy of the electronic device can be improved, and the user experience can be improved.

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

Drawings

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

Fig. 1 shows a schematic diagram of a positioning method according to an embodiment of the present disclosure;

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

FIG. 3 shows a block diagram of a positioning device according to an embodiment of the disclosure;

FIG. 4 shows a block diagram of an electronic device 800 in accordance with an embodiment of the disclosure;

fig. 5 illustrates a block diagram of an electronic device 1900 in accordance with an embodiment of the disclosure.

Detailed Description

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

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

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

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

In scenes such as AR navigation and AR game, after performing visual positioning by using VPS (visual positioning technology) technology to obtain position information (including information such as coordinates and/or postures) of an electronic device, in order to reduce the number of data interactions between the electronic device and a server and improve positioning efficiency, tracking and positioning may be performed on the electronic device to track the position information of the electronic device in a space, for example: the position information of the electronic equipment in the space is tracked by means of 6Dof (6 details of free) tracking capability of SLAM (Simultaneous Localization And Mapping).

However, in the tracking process, due to the influence of the accuracy of sensors such as an IMU (Inertial measurement unit) of the electronic device and the like and the abundance of visual feature points, the tracked position information may have a certain deviation after being accumulated for a certain period of time, and further the tracking effect may be poor, for example: due to the fact that the position information of the electronic device deviates, the AR object which should be displayed at the A1 position originally is displayed at the A2 position, and the experience of the user is affected.

Referring to fig. 1, a target reference object may be set in at least one preset position in a space where an electronic device is currently located in advance (fig. 1 only shows a case where the target reference object is set at one preset position P1), and in a process of tracking position information of the electronic device, whether the target reference object exists in a scene where the electronic device is currently located may be identified. When the target reference object exists in the current scene, the electronic device can be considered to have reached the vicinity of the target reference object, so that the preset position P1 of the target reference object can be obtained, and the position information tracked by the electronic device at this time is determined as P2. Whether the position information P2 tracked by the electronic device is accurate or not can be determined according to the preset position P1 of the target reference object, under the condition that the tracked position information P2 is not accurate (for example, the distance between P1 and P2 is long), the position of the electronic device can be corrected, so that tracking and positioning can be continued after accurate real-time position information is obtained, or under the condition that the tracked position information P2 is accurate (for example, the distance between P1 and P2 is short), the electronic device can be continuously tracked and positioned. Therefore, the tracking and positioning accuracy of the electronic equipment can be improved, and the user experience can be further improved.

Fig. 2 shows a flowchart of a positioning method according to an embodiment of the present disclosure, which may be performed by an electronic device such as a terminal device or a server, where the terminal device may be a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, an in-vehicle device, a wearable device, or the like, and the method may be implemented by a processor calling a computer readable instruction stored in a memory. Alternatively, the method may be performed by a server.

As shown in fig. 2, the positioning method may include:

in step S21, the electronic device is tracked and located to obtain first location information of the electronic device.

For example, after the position information of the electronic device is obtained, the first position information of the electronic device can be obtained in real time by tracking and locating the electronic device. For example, after the electronic device is visually positioned, the position information of the electronic device can be tracked by means of the 6Dof tracking capability of the SLAM, so that the first position information of the electronic device can be obtained in real time.

It should be noted that tracking and positioning of the electronic device by means of the 6Dof tracking capability of the SLAM is only an example in the embodiment of the present disclosure, and is not understood as a limitation to the tracking and positioning manner, and actually, the embodiment of the present disclosure does not make a specific limitation to the tracking and positioning manner.

In step S22, when a target reference object is identified in the image information acquired by the electronic device at the current time, second position information of the target reference object is acquired.

For example, the target reference object may be set in advance at least one preset position in a scene where the electronic device is located, and the target reference object may include objects such as sculptures, buildings, billboards, landscapes and the like. For example: the target reference object 1 may be set at a preset position P1, the target reference object P2 \8230;' the target reference object n (where n is a positive integer greater than 0) may be set at a preset position Pn, where the preset position is second position information of the target reference object, for example: the second position information of the target reference object 1 is the preset position P1. The electronic device may prestore second position information of each target reference object in the storage area.

The electronic equipment can acquire image information in real time, can identify the image information acquired at the current moment in real time and can identify whether a target reference object exists in the image information. In the case where the target reference object is identified in the image information acquired at the present time, the second position information of the target reference object may be acquired from the storage area.

In step S23, the electronic device is located according to the first location information and the second location information, so as to obtain real-time location information of the electronic device.

For example, whether the current tracking and positioning of the electronic device is accurate may be determined according to the first position information of the electronic device and the second position information of the target reference object. For example: when the first position information of the electronic device is close enough to the second position information of the target reference object, it can be determined that the current tracking and positioning of the electronic device are accurate, and the second position information tracked by the electronic device in real time can be determined as the real-time position information of the electronic device, and the electronic device is continuously tracked and positioned. Or, in a case that the first position information of the electronic device is far from the second position information of the target reference object, it may be determined that there is a deviation in the current tracking location, and further, the position of the electronic device needs to be corrected, so as to obtain the real-time position information of the electronic device, for example: the electronic device may be repositioned visually to obtain real-time location information for the electronic device.

Therefore, the electronic equipment can be tracked and positioned to obtain first position information of the electronic equipment, second position information of the target reference object is obtained under the condition that the target reference object is identified in the image information acquired at the current moment of the electronic equipment, and the electronic equipment can be positioned according to the first position information and the second position information to obtain real-time position information of the electronic equipment. According to the positioning method provided by the embodiment of the disclosure, since the second position information of the target reference object can be referred to, the accuracy of the first position information of the tracking and positioning of the electronic device can be judged to obtain the real-time position information of the electronic device, the tracking and positioning accuracy of the electronic device can be improved, and the user experience can be improved.

In a possible implementation manner, in step S23, the positioning the electronic device according to the first location information and the second location information to obtain the real-time location information of the electronic device may include:

For example, the deviation value of the first position information of the electronic device may be determined by the first position information of the electronic device and the second position information of the target reference object, where the deviation value of the first position information may be used to represent the deviation degree of the first position information of the electronic device from the real-time position information. For example: the difference between the first position information of the electronic device and the second position information of the target reference object may be determined as a deviation value of the first position information.

After the deviation value of the first location information is obtained, whether the first location information currently tracked by the electronic device is accurate or not can be determined according to the deviation value of the first location information and the difference threshold value, and then whether the location information of the electronic device needs to be corrected or not is determined, so that the real-time location information of the electronic device is obtained.

The difference threshold may be a preset value or a dynamically determined value.

For example, the difference threshold may be determined according to the tracking duration in the embodiment of the present disclosure. For example: after the electronic device is visually positioned (or after the position information of the electronic device is corrected), tracking and positioning of the electronic device are started, and after a target reference object is identified after T seconds, the tracking time length can be determined to be T seconds, and then a corresponding difference threshold value is determined according to the T seconds. For example: the longer the tracking time is, the larger the corresponding difference threshold value is, whereas the shorter the tracking time is, the smaller the corresponding difference threshold value is. Therefore, the position information of the electronic equipment can be corrected in time, the positioning precision of the electronic equipment can be improved, and the user experience is improved.

As another example, in the embodiments of the present disclosure, the difference threshold may be determined according to a distance between the electronic device and the target reference object. For example: the larger the distance between the electronic device and the target reference object is, the larger the corresponding difference threshold value is, and conversely, the smaller the distance between the electronic device and the target reference object is, the smaller the corresponding difference threshold value is. Therefore, the position information of the electronic equipment can be accurately corrected, the positioning precision of the electronic equipment can be improved, and the user experience is improved.

In a possible implementation manner, the positioning the electronic device according to the deviation value and the difference threshold of the first location information to obtain the real-time location information of the electronic device may include:

For example, when the deviation value of the first location information is smaller than the difference threshold, it may be determined that the current tracking location for the electronic device is accurate, and the location information of the electronic device does not need to be corrected, so that the tracked first location information may be determined as the real-time location information of the electronic device.

In a possible implementation manner, the positioning the electronic device according to the deviation value of the first location information and the difference threshold to obtain the real-time location information of the electronic device may include:

For example, in a case that the deviation value of the first location information is greater than or equal to the difference threshold, it may be determined that the tracking location for the electronic device is not accurate, and the location information of the electronic device needs to be corrected. After the position information of the electronic device is subjected to position correction, corrected position information can be obtained and can be used as real-time position information of the electronic device.

In a possible implementation manner, the performing location correction on the electronic device to obtain corrected location information may include:

For example, the device calibration condition satisfied by the electronic device may be determined by measuring a distance between the target reference object and the electronic device, and then the calibration mode for the position information of the electronic device may be determined according to the device calibration condition satisfied by the electronic device, and then the position information of the electronic device may be calibrated according to the calibration mode, so as to obtain the calibrated position information of the electronic device. For example, the device correction condition may include a first correction condition and a second correction condition; when the electronic equipment meets the first correction condition, the electronic equipment can be determined to be located at the position of the target reference object, so that the position information of the electronic equipment can be corrected by adopting the position of the target reference object; when the electronic device meets the second correction condition, the electronic device can be determined to be located near the target reference object, so that the electronic device can be repositioned to correct the position information of the electronic device.

Therefore, the positioning method provided by the embodiment of the disclosure can correct the position of the electronic device by adopting an appropriate correction mode, and can improve the accuracy of the position information of the electronic device and the correction efficiency.

For example, a first distance threshold and a second distance threshold may be preset, wherein the first distance threshold is smaller than the second distance threshold. The distance between the target reference object and the electronic equipment can be measured through ranging modes such as laser ranging, infrared ranging and IMU sensors, and under the condition that the distance between the target reference object and the electronic equipment is smaller than or equal to a first distance threshold value, the current position of the electronic equipment at the target reference object is determined, and the electronic equipment can be determined to meet a first correction condition.

Or, for any target reference object, when the target reference object is separated from the electronic device by different distances, the size information in the image information acquired by the electronic device is different, and the closer the distance is, the larger the size information in the image information of the target reference object is. For the target reference object, a first size threshold and a second size threshold may be preset, wherein the first size threshold is larger than the second size threshold. Under the condition that the size information of the target reference object in the image information acquired by the electronic equipment is larger than the first size threshold, it can be determined that the electronic equipment is close enough to the target reference object currently, and the electronic equipment can be considered to be located at the position of the target reference object currently, that is, it can be determined that the electronic equipment meets the first correction condition.

When it is determined that the electronic device meets the first correction condition, the electronic device may be considered to be currently located at the position of the target reference object, and then the position of the electronic device may be corrected according to the second position information of the target reference object.

In a possible implementation manner, the performing, by the electronic device, a location correction on the electronic device according to a correction manner corresponding to the device correction condition that is satisfied by the electronic device to obtain corrected location information may include:

For example, when it is determined that the electronic device satisfies the first correction condition, the electronic device may be considered to be currently located at the position of the target reference object, so that the second position information of the target reference object may be used as the corrected position information, and the corrected position information may be used as the real-time position information of the electronic device, so as to correct the position information of the electronic device. Therefore, the second position information is directly used as the correction position information, so that the correction efficiency can be improved, and the positioning precision of the electronic equipment can be improved.

In a possible implementation manner, the determining, according to the target reference object, a device calibration condition that is satisfied by the electronic device may include:

determining that the electronic device satisfies a second correction condition if a distance between the target reference object and the electronic device is greater than a first distance threshold and less than or equal to a second distance threshold, or if size information of the target reference object in the image information is greater than or equal to a second size threshold and less than a first size threshold, wherein the first distance threshold is less than the second distance threshold, and the first size threshold is greater than the second size threshold.

For example, as mentioned above, the distance between the target reference object and the electronic device may be measured by a distance measurement method such as laser distance measurement, infrared distance measurement, and IMU sensor, and in a case where the distance between the target reference object and the electronic device is greater than a first distance threshold and smaller than a second distance threshold, it may be determined that the electronic device is located near the target reference object, and it may be determined that the electronic device satisfies the second correction condition, where the first distance threshold is smaller than the second distance threshold. Alternatively, a first size threshold and a second size threshold may be preset for the target reference, wherein the first size threshold is larger than the second size threshold. The size information of the target reference object in the image information acquired by the electronic device can be determined, and when the size information of the target reference object in the image information acquired by the electronic device is larger than the second size threshold and smaller than the first size threshold, the electronic device can be determined to be located near the target reference object, and the electronic device can be determined to meet the second correction condition.

When it is determined that the electronic device meets the second correction condition, the electronic device may be considered to be currently located near the target reference object, but a certain distance exists between the electronic device and the target reference object, so that the electronic device cannot be subjected to position correction according to the second position information of the target reference object, and further needs to be repositioned, so as to correct the position information of the electronic device according to a positioning result.

In a possible implementation manner, the performing, by the electronic device, a location correction to obtain corrected location information according to a correction manner corresponding to the device correction condition that is satisfied by the electronic device includes:

For example, when it is determined that the electronic device satisfies the second correction condition, it may be determined that the electronic device is currently located near the target reference object but not located at the position of the target reference object, and therefore, the position information of the electronic device cannot be corrected by directly using the second position information of the target reference object. The electronic device may perform the visual positioning again to obtain third location information of the electronic device, and the third location information is used as the corrected location information. The corrected position information can be used as real-time position information of the electronic equipment so as to correct the position information of the electronic equipment.

In a possible implementation manner, in the case that the electronic device satisfies the second correction condition, performing visual positioning on the electronic device to obtain third position information of the electronic device may include:

For example, in a case where the electronic device satisfies the second correction condition, a prompt message may be output by the electronic device, and the prompt message may be used to instruct the user to move the electronic device to capture an image of an environment around the electronic device. And under the condition that the electronic equipment acquires the surrounding environment image, the electronic equipment is visually positioned through the environment image. For example, a visual positioning process of the electronic device may be implemented by the electronic device side, or after the electronic device uploads the environment image to the server side, the server side positions the electronic device according to the environment image, so as to obtain third location information of the electronic device.

For example: when the electronic device is not connected to the network or the electronic device is connected to the network but the network quality is poor, the electronic device can perform visual positioning according to the environment image to obtain the position information of the electronic device. Or, when the electronic device is connected to a network and the network quality is good, the electronic device may send the acquired environment image to the server, and the server visually locates the electronic device according to the environment image acquired by the electronic device to obtain third location information of the electronic device, and sends the third location information of the electronic device to the electronic device.

Illustratively, the prompt message may be presented by pop-up window, audio playing, or the like, wherein the prompt message includes at least one of voice message, text message, picture message, video message, and animation message. The mobile electronic equipment can be timely reminded of a user through a proper mode to collect the environmental image around the electronic equipment, and then accurate positioning is carried out according to the environmental image.

In a possible implementation manner, when the display duration of the prompt message is greater than the display time threshold, the prompt message is closed, and the positioning initial interface is skipped.

In a possible implementation manner, the display duration of the prompt message is within a display time range, and the display time range may be a preset time range. For example: the display time ranges are: (t 1, t 2), namely, the prompt message is displayed for at least t1 second and at most t2 second, wherein t2 is a display time threshold. After the prompt information is displayed for t1 second, whether the electronic equipment moves or not can be determined, if the electronic equipment does not move, the process of determining whether the electronic equipment moves or not can be repeated after t1 second until the electronic equipment moves to collect surrounding environment images or the display duration of the prompt information reaches t2 seconds, and the prompt information is closed.

If the electronic equipment acquires the surrounding environment image, the electronic equipment can perform visual positioning according to the acquired environment image to obtain third position information of the electronic equipment; if the display duration of the prompt message reaches t2 seconds, skipping to a positioning initial interface, generating and displaying explanatory information, wherein the explanatory information can be used for informing a user of positioning failure, and the reason of the positioning failure is that accumulated deviation exists in tracking and positioning of the electronic equipment, so that the user is reminded to restart positioning operation after the mobile electronic equipment collects surrounding environment images, including collecting surrounding image information to perform VPS positioning.

Therefore, the user can be guided to move the electronic equipment through the prompt information, the surrounding environment image is collected to perform visual positioning, the tracking positioning result of the electronic equipment is corrected according to the visual positioning result, the user experience can be improved through an interactive mode, the positioning efficiency is further improved, and the positioning accuracy is improved.

In fact, the position correction method of the electronic device in the embodiment of the present disclosure is not particularly limited, and any method that can locate the electronic device and obtain the position information of the electronic device can be used as the position correction method in the embodiment of the present disclosure.

In a possible implementation manner, in a case that a target reference object is identified in the image information acquired by the electronic device at the current time, acquiring second position information of the target reference object may include:

For example, when the target reference object is identified in the image information acquired by the electronic device at the current moment, whether the electronic device meets the reference object correction condition or not can be determined by measuring the distance between the electronic device and the target reference object, the second position information of the target reference object is acquired only when the electronic device meets the reference object correction condition, and the tracking and positioning accuracy of the electronic device can be further determined according to the second position information of the target reference object. If the electronic equipment does not meet the reference object correction condition, the electronic equipment can be continuously tracked and positioned until the target reference object is identified in the image information acquired by the electronic equipment, and second position information of the target reference object is acquired after the electronic equipment meets the reference object correction condition.

For example, when the distance between the electronic device and the target reference object indicates that the electronic device is located near the target reference object, it may be determined that the electronic device satisfies the reference object correction condition, otherwise, it is determined that the electronic device does not satisfy the reference object correction condition.

In a possible implementation manner, in a case that the target reference object is identified in the image information acquired by the electronic device at the current time, determining whether the electronic device satisfies a reference object correction condition may include:

For example, the distance between the target reference object and the electronic device may be measured by a distance measurement method such as laser distance measurement, infrared distance measurement, or an IMU sensor, and when the distance between the target reference object and the electronic device is less than or equal to the second distance threshold, it may be determined that the electronic device is located near the target reference object, and it may be determined that the electronic device satisfies the reference object correction condition.

Alternatively, in the case where the size information of the target reference object in the image information acquired by the electronic device is greater than or equal to the second size threshold, it may be determined that the electronic device is located at a position near the target reference object, and it may be determined that the electronic device satisfies the reference object correction condition.

Therefore, when the distance between the target reference object and the electronic equipment is proper, the second position information of the target reference object can be acquired so as to judge whether the second position information of the electronic equipment needs to be corrected or not, and the positioning accuracy of the electronic equipment can be improved.

The embodiment of the disclosure can be applied to positioning, AR navigation, AR game and other scenes, can judge whether the result of tracking and positioning of the electronic equipment is accurate or not through the position information of the target reference object in the process of tracking and positioning the electronic equipment, and further correct the position information of the electronic equipment through the position information of the target reference object or visual positioning and other modes under the condition that the result of tracking and positioning of the electronic equipment is not accurate enough, so that the positioning precision of the electronic equipment is improved, and the user experience is greatly improved.

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

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

Fig. 3 shows a block diagram of a positioning apparatus according to an embodiment of the present disclosure, as shown in fig. 3, the apparatus comprising:

the tracking module 31 may be configured to perform tracking and positioning on the electronic device to obtain first location information of the electronic device;

the obtaining module 32 may be configured to obtain second position information of the target reference object when the target reference object is identified in the image information acquired by the electronic device at the current time;

the positioning module 33 may be configured to position the electronic device according to the first location information and the second location information, so as to obtain real-time location information of the electronic device.

Therefore, the electronic equipment can be tracked and positioned to obtain first position information of the electronic equipment, second position information of a target reference object is obtained under the condition that the target reference object is identified in image information acquired at the current moment of the electronic equipment, and the electronic equipment can be positioned according to the first position information and the second position information to obtain real-time position information of the electronic equipment. According to the positioning device provided by the embodiment of the disclosure, since the second position information of the target reference object can be referred to, the accuracy of the first position information of the tracking and positioning of the electronic equipment is judged so as to obtain the real-time position information of the electronic equipment, the tracking and positioning accuracy of the electronic equipment can be improved, and the user experience can be improved.

In a possible implementation manner, the positioning module 33 may be further configured to:

In a possible implementation manner, the device correction condition includes a first correction condition, and the positioning module 33 is further configured to:

In a possible implementation manner, the device correction condition includes a second correction condition, and the positioning module 33 is further configured to:

In a possible implementation manner, the obtaining module 32 may be further configured to:

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

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

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

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

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

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

Fig. 4 illustrates a block diagram of an electronic device 800 in accordance with an embodiment of the disclosure. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.

Referring to fig. 4, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.

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

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

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

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

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

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

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

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

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

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

Fig. 5 illustrates a block diagram of an electronic device 1900 in accordance with an embodiment of the disclosure. For example, electronic device 1900 may be provided as a server. Referring to fig. 5, electronic device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the methods described above.

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

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

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

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

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

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

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

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

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

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

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

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

Claims

1. A positioning method is applied to an electronic device, and the method comprises the following steps:

under the condition that a target reference object is identified in image information acquired by the electronic equipment at the current moment, second position information of the target reference object is acquired; the target reference object is arranged at a preset position;

positioning the electronic equipment according to the first position information and the second position information to obtain real-time position information of the electronic equipment;

wherein, the positioning the electronic device according to the first position information and the second position information to obtain the real-time position information of the electronic device includes:

positioning the electronic equipment according to the deviation value and the difference threshold value of the first position information to obtain real-time position information of the electronic equipment; wherein the difference threshold is positively correlated with the tracking duration and/or the distance between the electronic device and the target reference object.

2. The method of claim 1, wherein the positioning the electronic device according to the deviation value and the difference threshold value of the first location information to obtain real-time location information of the electronic device comprises:

3. The method according to claim 2, wherein the performing the position correction on the electronic device to obtain corrected position information comprises:

4. The method according to claim 3, wherein the device calibration condition includes a first calibration condition, and the performing location calibration on the electronic device according to the calibration manner corresponding to the device calibration condition that is satisfied by the electronic device to obtain calibrated location information includes:

5. The method of claim 4, wherein determining the device calibration condition satisfied by the electronic device based on the target reference object comprises:

6. The method according to claim 3, wherein the device calibration condition includes a second calibration condition, and the performing location calibration on the electronic device according to a calibration manner corresponding to the device calibration condition that is satisfied by the electronic device to obtain calibrated location information includes:

7. The method of claim 6, wherein visually positioning the electronic device to obtain third location information of the electronic device when the electronic device satisfies the second correction condition comprises:

8. The method according to claim 6 or 7, wherein the determining of the device calibration condition satisfied by the electronic device according to the target reference object comprises:

9. The method of claim 1, wherein the positioning the electronic device according to the deviation value and the difference threshold value of the first location information to obtain real-time location information of the electronic device comprises:

10. The method according to any one of claims 1 to 9, wherein in a case that a target reference object is identified in the image information acquired by the electronic device at the current moment, acquiring second position information of the target reference object comprises:

11. The method according to claim 10, wherein in a case where the target reference object is identified in the image information acquired by the electronic device at the current time, determining whether the electronic device satisfies a reference object correction condition includes:

12. A positioning device applied to an electronic device, the device comprising:

the acquisition module is used for acquiring second position information of a target reference object under the condition that the target reference object is identified in the image information acquired by the electronic equipment at the current moment; the target reference object is arranged at a preset position;

the positioning module is used for positioning the electronic equipment according to the first position information and the second position information to obtain real-time position information of the electronic equipment;

13. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

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

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