CN113888643A - Spatial three-dimensional coordinate correction method and device, electronic equipment and storage medium - Google Patents
Spatial three-dimensional coordinate correction method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a space three-dimensional coordinate correcting method, a device, an electronic device and a storage medium, wherein the space three-dimensional coordinate correcting method can be applied to a space three-dimensional coordinate correcting device, obtains second characteristic information of a preset comparison object corresponding to the position of a target object by obtaining first three-dimensional coordinate information and first characteristic information of the target object, and respectively obtains a first characteristic proportion and a second characteristic proportion according to the first characteristic information and the second characteristic information, wherein the preset comparison object is some objects which are preset in a space and can be used as a reference for correction and stores some information of the objects, so that the second characteristic proportion can correct the first characteristic proportion, the characteristic information is some information representing morphological characteristics of the objects, the first three-dimensional coordinate information can be corrected by using the correction information to obtain accurate target three-dimensional coordinate information, and the positioning error is reduced.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a method and an apparatus for correcting a spatial three-dimensional coordinate, an electronic device, and a storage medium.
Background
The binocular camera is widely applied to the fields of robot navigation, precision industrial measurement, object acquisition, virtual reality, scene reconstruction and surveying, and is widely applied to the fields of three-dimensional scene reconstruction after a field image is acquired so as to obtain a three-dimensional coordinate of a target object.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a method and a device for correcting a three-dimensional space coordinate, electronic equipment and a storage medium, which can obtain accurate target three-dimensional coordinate information and reduce positioning errors.
A spatial three-dimensional coordinate correction method according to an embodiment of a first aspect of the present invention includes:
acquiring first three-dimensional coordinate information and first characteristic information of a target object;
acquiring second characteristic information of a preset contrast object corresponding to the position of the target object according to the first three-dimensional coordinate information;
obtaining a first characteristic proportion of the position of the target object according to the first characteristic information;
obtaining a second characteristic proportion of the position of the preset contrast object according to the second characteristic information;
and correcting the first characteristic proportion according to the second characteristic proportion to obtain correction information, and correcting the first three-dimensional coordinate information according to the correction information to obtain target three-dimensional coordinate information.
The method for correcting the spatial three-dimensional coordinate provided by the embodiment of the invention at least has the following beneficial effects: the embodiment of the invention provides a space three-dimensional coordinate correction method which can be applied to a space three-dimensional coordinate correction device, obtaining second characteristic information of a preset contrast object corresponding to the position of the target object by obtaining first three-dimensional coordinate information and first characteristic information of the target object, obtaining a first characteristic proportion and a second characteristic proportion according to the first characteristic information and the second characteristic information respectively, wherein the preset contrast objects are some objects preset in the space and can be used as a reference for correction and store some information of the objects, so that the second characteristic proportion can correct the first characteristic proportion, the characteristic information is some information characterizing the morphological characteristics of the object, therefore, the correction information can be used for correcting the first three-dimensional coordinate information to obtain accurate target three-dimensional coordinate information, and the positioning error is reduced.
According to some embodiments of the present invention, the obtaining of the target three-dimensional coordinate information by correcting the first feature ratio according to the second feature ratio to obtain correction information and correcting the first three-dimensional coordinate information according to the correction information includes:
and correcting the first characteristic proportion according to the second characteristic proportion to obtain correction information, correcting the Beidou grid code information according to the correction information to obtain target three-dimensional coordinate information, and obtaining target Beidou grid code information according to the target three-dimensional coordinate information.
According to some embodiments of the present invention, the acquiring second feature information of a preset contrast object corresponding to the position of the target object according to the first three-dimensional coordinate information includes:
identifying a marked object in a space and acquiring second three-dimensional coordinate information of the marked object;
and obtaining second three-dimensional coordinate information corresponding to the position of the first three-dimensional coordinate information according to the first three-dimensional coordinate information, determining the marked object with the second three-dimensional coordinate information as the preset comparison object, and acquiring second characteristic information of the marked object.
According to some embodiments of the present invention, the obtaining the first feature ratio of the position of the target object according to the first feature information includes:
and obtaining the first characteristic proportion of the position of the target object according to the first three-dimensional information and the first shadow length information.
According to some embodiments of the present invention, the obtaining the second feature ratio of the position of the preset contrast object according to the second feature information includes:
and second three-dimensional information prestored in the preset contrast object is obtained, and the second characteristic proportion of the position of the preset contrast object is obtained according to the second shadow length information and the second three-dimensional information.
According to some embodiments of the present invention, before the obtaining of the second three-dimensional information pre-stored in the preset comparison object, the method for correcting the spatial three-dimensional coordinates further includes:
and identifying the preset contrast object in the space, and acquiring the second three-dimensional coordinate information of the preset contrast object input by the user terminal.
According to some embodiments of the present invention, before the obtaining of the second three-dimensional information pre-stored in the preset comparison object, the method includes:
identifying the marked objects in the space and acquiring third three-dimensional coordinate information, third three-dimensional information and first identification information of each marked object input by a user side;
training the third three-dimensional coordinate information, the third three-dimensional information and the first identification information of each marked object to obtain a neural network model;
identifying the preset comparison object in the space and acquiring second three-dimensional coordinate information and second identification information of the preset comparison object;
and inputting the second identification information and the second three-dimensional coordinate information into the neural network model to obtain the second three-dimensional information of the preset contrast object.
A spatial three-dimensional coordinate correction apparatus according to an embodiment of a second aspect of the present invention is characterized by comprising:
the three-dimensional coordinate module is used for acquiring first three-dimensional coordinate information and first characteristic information of a target object and acquiring second characteristic information of a preset contrast object corresponding to the position of the target object according to the first three-dimensional coordinate information;
and the processing module is connected with the three-dimensional coordinate module and used for obtaining a first characteristic proportion of the position of the target object according to the first characteristic information, obtaining a second characteristic proportion of the position of the preset comparison object according to the second characteristic information, correcting the first characteristic proportion according to the second characteristic proportion to obtain correction information, and correcting the first three-dimensional coordinate information according to the correction information to obtain target three-dimensional coordinate information.
The spatial three-dimensional coordinate correction device provided by the embodiment of the invention at least has the following beneficial effects: the space three-dimensional coordinate correcting device in the embodiment of the invention can apply the space three-dimensional coordinate correcting method, the three-dimensional coordinate module obtains the second characteristic information of the preset contrast object corresponding to the position of the target object by obtaining the first three-dimensional coordinate information and the first characteristic information of the target object, the processing module obtains the first characteristic proportion and the second characteristic proportion respectively according to the first characteristic information and the second characteristic information, wherein the preset contrast object is some objects which are preset in the space and can be used as the reference for correction and store some information of the objects, so that the second characteristic proportion can correct the first characteristic proportion, the characteristic information is some information representing the morphological characteristics of the objects, the processing module can correct the first three-dimensional coordinate information by using the correction information to obtain accurate target three-dimensional coordinate information, and the positioning error is reduced.
An electronic device according to an embodiment of a third aspect of the present invention is characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of spatial three-dimensional coordinate correction according to any one of the embodiments of the first aspect of the present invention when executing the computer program.
A computer-readable storage medium according to an embodiment of the fourth aspect of the present invention is characterized in that the computer-readable storage medium stores computer-executable instructions for causing a computer to execute the method for correcting three-dimensional spatial coordinates according to any one of the embodiments of the first aspect of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
FIG. 1 is a flow chart of a method for spatial three-dimensional coordinate correction according to some embodiments of the invention;
FIG. 2 is a flow chart of a method for correcting three-dimensional spatial coordinates according to another embodiment of the present invention;
fig. 3 is a view of an application scenario of a spatial three-dimensional coordinate correcting apparatus according to some embodiments of the present invention;
FIG. 4 is a flowchart of a method for correcting three-dimensional spatial coordinates according to another embodiment of the present invention;
FIG. 5 is a block diagram of a spatial three-dimensional coordinate correcting apparatus according to some embodiments of the present invention;
fig. 6 is a block diagram of an electronic device according to some embodiments of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The Beidou grid code is a multi-scale discrete global geographic grid coding model suitable for navigation positioning service developed on the basis of a global subdivision grid. The grid coding model provides a set of unified identification and expression method for global spatial region position information, which can identify positions and regions and better accord with the use habits and characteristics of people, so that the problems that a longitude and latitude system is difficult to solve, and the problems of uniqueness, readability, multi-scale, hierarchical association, seamless non-overlapping and expression of massive spatial information on identification and expression, internal information of an object and the like are solved satisfactorily.
The embodiments of the present invention will be further explained with reference to the drawings.
The embodiment of the present invention provides a method for correcting three-dimensional spatial coordinates, which can be applied to a device for correcting three-dimensional spatial coordinates, and as shown in fig. 1, the method for correcting three-dimensional spatial coordinates of the embodiment of the present invention includes, but is not limited to, step S110, step S120, step S130, step S140, and step S150.
Step S110, first three-dimensional coordinate information and first feature information of the target object are acquired.
And step S120, acquiring second characteristic information of a preset contrast object corresponding to the position of the target object according to the first three-dimensional coordinate information.
Step S130, obtaining a first characteristic proportion of the position of the target object according to the first characteristic information.
Step S140, obtaining a second characteristic ratio of the position of the preset contrast object according to the second characteristic information.
And S150, correcting the first characteristic proportion according to the second characteristic proportion to obtain correction information, and correcting the first three-dimensional coordinate information according to the correction information to obtain target three-dimensional coordinate information.
In some embodiments of the present invention, the spatial three-dimensional coordinate correction method can be applied to a spatial three-dimensional coordinate correction device, obtaining second characteristic information of a preset contrast object corresponding to the position of the target object by obtaining first three-dimensional coordinate information and first characteristic information of the target object, obtaining a first characteristic proportion and a second characteristic proportion according to the first characteristic information and the second characteristic information respectively, wherein the preset contrast objects are some objects preset in the space and can be used as a reference for correction and store some information of the objects, so that the second characteristic proportion can correct the first characteristic proportion, the characteristic information is some information characterizing the morphological characteristics of the object, therefore, the correction information can be used for correcting the first three-dimensional coordinate information to obtain accurate target three-dimensional coordinate information, and the positioning error is reduced.
It should be noted that, in an embodiment, the spatial three-dimensional coordinate correction device may scan a space where the spatial three-dimensional coordinate correction device is located to obtain a three-dimensional image, and obtain first three-dimensional coordinate information of the target object according to modeling, where the first three-dimensional coordinate information may be beidou grid code information, in another embodiment, the spatial three-dimensional coordinate correction device scans the space where the spatial three-dimensional coordinate correction device is located to obtain first feature information of the target object, and the first feature information is used as an image representing a morphological feature of the target object, and may be a three-dimensional image or a two-dimensional image of the object, or morphological information data obtained according to the three-dimensional image and the two-dimensional image.
In an embodiment, the first three-dimensional coordinate information is Beidou grid code information, and the step S150 may further include, but is not limited to, the following steps:
and correcting the first characteristic proportion according to the second characteristic proportion to obtain correction information, correcting the Beidou grid code information according to the correction information to obtain target three-dimensional coordinate information, and obtaining the target Beidou grid code information according to the target three-dimensional coordinate information.
In some embodiments of the invention, Beidou grid code information is used as the first three-dimensional coordinate information, the Beidou grid code information has the characteristics of accurate positioning and wide application range, and has extremely high popularization value as a navigation technology vigorously developed in China, so the Beidou grid code information is used as the first three-dimensional coordinate information, in one embodiment, a space three-dimensional coordinate correction device corrects the Beidou grid code information according to a code set for a target object in a Beidou grid code coding mode to obtain target three-dimensional coordinate information, and obtains the target Beidou grid code information according to the target three-dimensional coordinate information, in one embodiment, the target three-dimensional coordinate information is the target Beidou grid code information, and the obtained target Beidou grid code information also adopts a representation form of the Beidou grid code, so the positioning accuracy of the space three-dimensional coordinate correction is improved, in one embodiment, the spatial three-dimensional coordinate correction device is provided with a three-dimensional coordinate module, the three-dimensional coordinate module is a sensor for acquiring the Beidou grid code, and the three-dimensional coordinate module can perform grid distinguishing and coding on the established plane so as to obtain Beidou grid code information.
It should be noted that the correction information is correction information on a ratio obtained according to different ratios, so that the original error Beidou grid code information can be corrected according to a correct ratio value, and correct Beidou grid code information is obtained, namely the target Beidou grid code information.
Referring to fig. 2, in an embodiment, the step S120 may further include, but is not limited to, the following steps S210 and S220.
Step S210, identifying the marked object in the space and acquiring second three-dimensional coordinate information of the marked object.
Step S220, obtaining second three-dimensional coordinate information corresponding to the position of the first three-dimensional coordinate information according to the first three-dimensional coordinate information, determining the marked object with the second three-dimensional coordinate information as a preset comparison object, and obtaining second characteristic information of the marked object.
In some embodiments of the present invention, the spatial three-dimensional coordinate correction device may obtain a marked object close to a target object as a predetermined comparison object, where it should be noted that, a plurality of objects may be arranged in a space as marked objects, such as a distant light pole, a building, or an indoor electrical appliance, and as shown in fig. 3, the predetermined comparison object may be a distant tree, the target object may be a person, and the tree may be a reference object with the person, where the spatial three-dimensional coordinate correction device scans and identifies the marked object in the space and may obtain second three-dimensional coordinate information of each marked object, where the second three-dimensional coordinate information is the same as the first three-dimensional coordinate information and is the three-dimensional coordinates representing the object, and in one embodiment, the second three-dimensional coordinate information is also beidou grid code information, and then the spatial three-dimensional coordinate correction device compares the first three-dimensional coordinate information with the second three-dimensional coordinate information in a plurality of spaces, finding out the nearest coordinate point, and determining the mark object of the nearest coordinate point as a preset comparison object so as to correct the coordinate of the target object, wherein it can be understood that, at a position far away from the spatial three-dimensional coordinate correction device, because the distance is far, the first three-dimensional coordinate information of the target object obtained by the spatial three-dimensional coordinate correction device is not accurate enough, so that an object which is close to the target object in the space can be selected as the preset comparison object, thereby facilitating the coordinate correction to obtain more accurate three-dimensional coordinates, and after the preset comparison object is marked, obtaining the second characteristic information of the object.
In an embodiment, the first feature information includes first three-dimensional information and first shadow length information of the target object, and the step S130 may further include, but is not limited to, the following steps:
and obtaining a first characteristic proportion of the position of the target object according to the first three-dimensional information and the first shadow length information.
In some embodiments of the present invention, the three-dimensional coordinates are corrected by using a feature ratio established by the length of the shadow of the object and the three-dimensional information of the object, the obtained first feature information includes first three-dimensional information and first shadow length information of the target object, wherein the first three-dimensional information represents the three-dimensional data of the target object, and comprises the information of high length, width and the like of the target object, the first shadow length represents the shadow length of the target object in the sunlight, it is understood that, after the spatial three-dimensional coordinate correction device acquires the image of the space, the target object in the space is identified, extracting the three-dimensional information and the shadow length of the target object, obtaining a first characteristic proportion of the position of the target object according to the obtained three-dimensional information and the shadow length, since the space acquired by the camera is very small in terms of being relatively large, it can be understood that the ratio of the images in the space is approximately the same.
It should be noted that, on the premise of meeting the requirements of the embodiments of the present invention, the characteristic information may further include other information characterizing the form of the object, and the present invention is not limited thereto.
In an embodiment, the second characteristic information includes second shadow length information of a preset contrast object, and the step S140 may further include, but is not limited to, the following steps:
and second three-dimensional information prestored in the preset comparison object is obtained, and a second characteristic proportion of the position where the preset comparison object is located is obtained according to the second shadow length information and the second three-dimensional information.
In some embodiments of the present invention, the three-dimensional coordinates are corrected by using a characteristic ratio established between the length of the shadow of the object and the three-dimensional information of the object, the obtained second characteristic information includes second shadow length information of a preset contrast object, and pre-stored second three-dimensional information is obtained according to the identified preset contrast object, wherein the second three-dimensional information represents three-dimensional data of the preset contrast object and includes information such as length, width, and the like of the preset contrast object, and the second shadow length represents the shadow length of the preset contrast object in the sunlight, it can be understood that, after the spatial three-dimensional coordinate correcting device obtains the image of the space, the preset contrast object in the space is identified and the shadow length of the preset contrast object is extracted, and in order to achieve the correction effect, the pre-stored three-dimensional data of the preset contrast object is extracted as the second three-dimensional data, so that an accurate shadow ratio can be obtained, the second characteristic proportion of the position of the preset contrast object is obtained according to the obtained three-dimensional information and the length of the shadow, and the space obtained by the camera is very small in terms of relative large, so that the proportion of the shadow in the space is approximately the same, the proportion of the shadow close to the target object is obtained, and the interference of the obstacle in the space to the shadow can be avoided.
In an embodiment, before the step of obtaining the second three-dimensional information pre-stored in the preset contrast object, the method may further include the following steps:
and identifying a preset contrast object in the space, and acquiring second three-dimensional coordinate information of the preset contrast object input by the user terminal.
In some embodiments of the present invention, the second three-dimensional coordinate information is directly input by a user terminal, and includes information such as the length, the width, and the like of the object, so that the data is accurate, and the second three-dimensional coordinate information can be used as an accurate correction parameter and form an accurate ratio of the image and object, so as to correct the coordinates of the object.
It should be noted that the spatial three-dimensional coordinate correction device can be applied to a digital city, the terminal can be a mobile phone, a tablet personal computer and other terminal products, a digital twin city is formed by accessing the terminal to a smart city, and each terminal can transmit data for the spatial three-dimensional coordinate correction device, so that the purpose of more accurate coordinate correction is achieved.
Referring to fig. 4, in an embodiment, before the step of acquiring the second three-dimensional information pre-stored in the preset contrast object, the following steps S310, S320, S330 and S340 may be further included.
Step S310, identifying the marked object in the space and acquiring the third three-dimensional coordinate information, the third three-dimensional information, and the first identification information of each marked object input by the user terminal.
Step S310, training the third three-dimensional coordinate information, the third three-dimensional information and the first identification information of each marked object to obtain a neural network model.
Step S310, a preset comparison object in the space is identified, and second three-dimensional coordinate information and second identification information of the preset comparison object are obtained.
Step S310, inputting the second identification information and the second three-dimensional coordinate information into the neural network model to obtain second three-dimensional information of the preset contrast object.
In some embodiments of the present invention, in addition to the feature information of the preset comparison object manually input by the user, the feature information may be obtained in an automatic learning manner, specifically, the spatial three-dimensional coordinate correction device scans to obtain the marked object in the space, and the third three-dimensional coordinate information of the marked object is directly input by the user side and includes information such as the length, the width, and the like of the object, so that the data is accurate, the third three-dimensional coordinate information can be used as an accurate correction parameter and form an accurate shadow proportion for coordinate correction of the target object, and in one embodiment, the spatial three-dimensional coordinate correction device may be provided with a client, which may be disposed on the spatial three-dimensional coordinate correction device, or may be sent to the spatial three-dimensional coordinate correction device by the terminal after establishing a communication connection with the spatial three-dimensional coordinate correction device in the form of the terminal, so as to implement the user input, so that in a complex environment, forming an accurate coordinate system to facilitate coordinate correction of the target object, wherein the spatial three-dimensional coordinate correction device further recognizes the recognition information of the marked object as first recognition information, for example, recognizing the model, category and other information of the object as distinction, then trains the obtained third three-dimensional coordinate information, third three-dimensional information and first recognition information of a plurality of marked objects to obtain a neural network model, after the neural network model is trained, the three-dimensional information of the object can be obtained according to the three-dimensional coordinate information and the recognition information, then automatically recognizes, scans to obtain a preset comparison object determined in the space, and obtains second three-dimensional coordinate information and second recognition information of the preset comparison object, which can be input by a user or can be fully automatically recognized, and the invention does not limit the invention specifically, so that the second three-dimensional coordinate information and the second recognition information are input into the trained neural network model, and searching identification information corresponding to the second identification information, and obtaining the three-dimensional information of the preset comparison object through the neural network model according to the difference of the positions, namely the second three-dimensional information.
Referring to fig. 5, an embodiment of the present invention further provides a spatial three-dimensional coordinate correcting apparatus 100, including: the three-dimensional coordinate system comprises a three-dimensional coordinate module 101 and a processing module 102 connected with the three-dimensional coordinate module 101, wherein the three-dimensional coordinate module 101 is used for acquiring first three-dimensional coordinate information and first characteristic information of a target object, acquiring second characteristic information of a preset contrast object corresponding to the position of the target object according to the first three-dimensional coordinate information, the processing module 102 is used for acquiring a first characteristic proportion of the position of the target object according to the first characteristic information, acquiring a second characteristic proportion of the position of the preset contrast object according to the second characteristic information, correcting the first characteristic proportion according to the second characteristic proportion to acquire correction information, and correcting the first three-dimensional coordinate information according to the correction information to acquire target three-dimensional coordinate information. The spatial three-dimensional coordinate correcting device 100 in the embodiment of the present invention may apply the spatial three-dimensional coordinate correcting method in the above embodiment, the three-dimensional coordinate module 101 obtains the first three-dimensional coordinate information and the first feature information of the target object to obtain the second feature information of the preset comparison object corresponding to the position of the target object, the processing module 102 obtains the first feature ratio and the second feature ratio according to the first feature information and the second feature information, respectively, where the preset comparison object is some objects preset in the space and may be used as a reference for correction, and some information of the objects is stored, so that the second feature ratio may correct the first feature ratio, the feature information is some information representing morphological features of the objects, the processing module 102 may correct the first three-dimensional coordinate information by using the correction information to obtain accurate target three-dimensional coordinate information, and the positioning error is reduced.
In an embodiment, the spatial three-dimensional coordinate correction device 100 corrects the Beidou grid code information according to the correction information to obtain the target Beidou grid code information, the obtained target Beidou grid code information also adopts the expression form of the Beidou grid code, so that the positioning accuracy of spatial three-dimensional coordinate correction is improved, in an embodiment, the three-dimensional coordinate module 101 is a sensor for obtaining the Beidou grid code, and the three-dimensional coordinate module 101 can perform grid distinguishing and coding on the established plane, so that the Beidou grid code information is obtained.
It should be noted that, in another embodiment, the three-dimensional coordinate module 101 may scan a space where the three-dimensional coordinate module is located to obtain a three-dimensional image, and obtain first three-dimensional coordinate information of the target object according to modeling, where the first three-dimensional coordinate information may be beidou grid code information, in another embodiment, the three-dimensional coordinate module 101 scans the space where the three-dimensional coordinate module is located to obtain first feature information of the target object, and the first feature information is used as an image representing a morphological feature of the target object, and may be a three-dimensional image or a two-dimensional image of the object, or morphological information data obtained according to the three-dimensional image and the two-dimensional image.
Referring to fig. 6, fig. 6 is a schematic diagram of an electronic device 200 according to an embodiment of the present invention. The electronic device 200 according to the embodiment of the present invention can be embedded in a spatial three-dimensional coordinate correcting apparatus, and includes one or more control processors 1310 and memories 1320, where fig. 6 illustrates a control processor 201 and a memory 202.
The control processor 201 and the memory 202 may be connected by a bus or other means, and fig. 6 illustrates the connection by a bus as an example.
The memory 202, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer-executable programs. Further, the memory 202 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 202 may optionally include memory 202 located remotely from the control processor 201, and these remote memories 202 may be connected to the electronic device 200 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Those skilled in the art will appreciate that the arrangement of apparatus shown in fig. 6 does not constitute a limitation of the electronic device 200, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
The non-transitory software program and instructions required to implement the spatial three-dimensional coordinate correction method applied to the electronic device 200 in the above-described embodiment are stored in the memory 202, and when executed by the control processor 201, perform the spatial three-dimensional coordinate correction method applied to the electronic device 200 in the above-described embodiment, for example, perform the method steps S110 to S150 in fig. 1, the method steps S210 to S220 in fig. 2, and the method steps S310 to S340 in fig. 4 described above.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions, which are executed by one or more control processors, for example, by one control processor 201 in fig. 6, and can cause the one or more control processors 201 to execute the spatial three-dimensional coordinate correction method in the above method embodiment, for example, execute the above-described method steps S110 to S150 in fig. 1, method steps S210 to S220 in fig. 2, and method steps S310 to S340 in fig. 4.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.
Claims (10)
1. A method for correcting three-dimensional space coordinates is characterized by comprising the following steps:
acquiring first three-dimensional coordinate information and first characteristic information of a target object;
acquiring second characteristic information of a preset contrast object corresponding to the position of the target object according to the first three-dimensional coordinate information;
obtaining a first characteristic proportion of the position of the target object according to the first characteristic information;
obtaining a second characteristic proportion of the position of the preset contrast object according to the second characteristic information;
and correcting the first characteristic proportion according to the second characteristic proportion to obtain correction information, and correcting the first three-dimensional coordinate information according to the correction information to obtain target three-dimensional coordinate information.
2. The method according to claim 1, wherein the first three-dimensional coordinate information is Beidou grid code information, the correcting the first feature ratio according to the second feature ratio to obtain correction information, and the correcting the first three-dimensional coordinate information according to the correction information to obtain target three-dimensional coordinate information, comprises:
and correcting the first characteristic proportion according to the second characteristic proportion to obtain correction information, correcting the Beidou grid code information according to the correction information to obtain target three-dimensional coordinate information, and obtaining target Beidou grid code information according to the target three-dimensional coordinate information.
3. The method according to claim 1 or 2, wherein the obtaining second feature information of a preset comparison object corresponding to the position of the target object from the first three-dimensional coordinate information includes:
identifying a marked object in a space and acquiring second three-dimensional coordinate information of the marked object;
and obtaining second three-dimensional coordinate information corresponding to the position of the first three-dimensional coordinate information according to the first three-dimensional coordinate information, determining the marked object with the second three-dimensional coordinate information as the preset comparison object, and acquiring second characteristic information of the marked object.
4. The method according to claim 1 or 2, wherein the first feature information includes first three-dimensional information and first shadow length information of the target object, and the obtaining a first feature ratio of a position of the target object based on the first feature information includes:
and obtaining the first characteristic proportion of the position of the target object according to the first three-dimensional information and the first shadow length information.
5. The method according to claim 4, wherein the second feature information includes second shadow length information of the preset contrast object, and the obtaining of the second feature ratio of the position of the preset contrast object according to the second feature information includes:
and second three-dimensional information prestored in the preset contrast object is obtained, and the second characteristic proportion of the position of the preset contrast object is obtained according to the second shadow length information and the second three-dimensional information.
6. The method according to claim 5, wherein before the obtaining of the second three-dimensional information pre-stored in the preset comparison object, the method further comprises:
and identifying the preset contrast object in the space, and acquiring the second three-dimensional coordinate information of the preset contrast object input by the user terminal.
7. The method for correcting the spatial three-dimensional coordinates according to claim 5, wherein before the obtaining of the second three-dimensional information pre-stored in the preset contrast object, the method comprises:
identifying the marked objects in the space and acquiring third three-dimensional coordinate information, third three-dimensional information and first identification information of each marked object input by a user side;
training the third three-dimensional coordinate information, the third three-dimensional information and the first identification information of each marked object to obtain a neural network model;
identifying the preset comparison object in the space and acquiring second three-dimensional coordinate information and second identification information of the preset comparison object;
and inputting the second identification information and the second three-dimensional coordinate information into the neural network model to obtain the second three-dimensional information of the preset contrast object.
8. A spatial three-dimensional coordinate correction apparatus, comprising:
the three-dimensional coordinate module is used for acquiring first three-dimensional coordinate information and first characteristic information of a target object and acquiring second characteristic information of a preset contrast object corresponding to the position of the target object according to the first three-dimensional coordinate information;
and the processing module is connected with the three-dimensional coordinate module and used for obtaining a first characteristic proportion of the position of the target object according to the first characteristic information, obtaining a second characteristic proportion of the position of the preset comparison object according to the second characteristic information, correcting the first characteristic proportion according to the second characteristic proportion to obtain correction information, and correcting the first three-dimensional coordinate information according to the correction information to obtain target three-dimensional coordinate information.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor implementing the method of spatial three-dimensional coordinate correction according to any one of claims 1 to 8 when executing the computer program.
10. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the spatial three-dimensional coordinate correcting method according to any one of claims 1 to 8.
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