CN115523940B - Navigation display method, navigation display device, electronic equipment and storage medium - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
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Abstract
The disclosure provides a navigation display method, a navigation display device, electronic equipment and a storage medium. The method relates to the technical field of artificial intelligence, in particular to the technical fields of augmented reality, virtual reality, computer vision, deep learning and the like, and can be applied to scenes such as navigation maps, smart cities and the like. The specific scheme is as follows: obtaining a path point of a navigation path; determining a first path point and a second path point which are related to the current position point from the path points according to the current position point of the equipment; determining a first location point of the device based on the first path point; determining a second location point of the device based on the second path point and the first location point; determining display information of the traveling identifier based on the current location point, the first location point and the second location point; based on the display information of the travel marker, the travel marker display is superimposed on the environment image associated with the current location point. According to the method and the device, the accuracy of the display of the travelling marker can be improved, so that the navigation accuracy is improved, and the navigation effect is improved.
Description
Technical Field
The disclosure relates to the technical field of artificial intelligence, in particular to the technical fields of augmented reality, virtual reality, computer vision, deep learning and the like, and can be applied to scenes such as navigation maps, smart cities and the like.
Background
In indoor and outdoor navigation application, the direction can be more clearly guided for the user by means of augmented reality (Augmented Reality, abbreviated as AR). In the related art, in an AR navigation scene, a forward route is guided for a user by an arrow. However, the requirements on the positioning and tracking precision of the equipment are higher, otherwise, the problems that an arrow route passes through a wall, the arrow route is not under the foot of a user and the like can occur, and the accuracy of navigation display needs to be improved.
Disclosure of Invention
The disclosure provides a navigation display method, a navigation display device, electronic equipment and a storage medium.
According to a first aspect of the present disclosure, there is provided a navigation display method including:
obtaining a path point of a navigation path;
determining a first path point and a second path point which are related to the current position point from the path points according to the current position point of the equipment;
determining a first location point of the device based on the first path point, the first location point being a next location point to the current location point;
determining a second location point of the device based on the second path point and the first location point, the second location point being a next location point to the first location point;
determining display information of the traveling identifier based on the current location point, the first location point and the second location point;
A travel identifier display is superimposed on the environmental image associated with the current location point based on the display information of the travel identifier, the travel identifier being used to indicate the direction of the first path point in the environmental image relative to the current location point.
According to a second aspect of the present disclosure, there is provided a navigation display apparatus comprising:
the first acquisition module is used for acquiring the path points of the navigation path;
the first determining module is used for determining a first path point and a second path point which are related to the current position point from the path points according to the current position point of the equipment;
a second determining module, configured to determine a first location point of the device based on the first path point, where the first location point is a location point next to the current location point;
a third determining module for determining a second location point of the device based on the second path point and the first location point, the second location point being a next location point to the first location point;
a fourth determining module for determining display information of the traveling identifier based on the current location point, the first location point, and the second location point;
and a display module for superimposing a travel marker display on the environment image associated with the current location point based on display information of the travel marker, the travel marker indicating a direction of the first path point in the environment image relative to the current location point.
According to a third aspect of the present disclosure, there is provided an electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method provided in the first aspect described above.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method provided in the first aspect above.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method provided by the first aspect described above.
According to the technical scheme, the equipment is not required to have high positioning and tracking precision, and the accuracy of displaying the travelling marker can be improved, so that the navigation accuracy and the navigation effect are improved.
The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will become apparent by reference to the drawings and the following detailed description.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
FIG. 1 is a schematic diagram one showing a travel marker according to an embodiment of the present disclosure;
FIG. 2 is a flow diagram of a navigation display method according to an embodiment of the present disclosure;
FIG. 3 is an exemplary diagram of a navigation path according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a comparison of a navigation path with a user walking path in accordance with an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a first path point and a second path point on a navigation path according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram II showing a travel marker according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of the composition of a navigation display device according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of a navigation display scenario according to an embodiment of the present disclosure;
fig. 9 is a block diagram of an electronic device for implementing a navigation display method of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The terms first, second, third and the like in the description and in the claims and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion, such as a series of steps or elements. The method, system, article, or apparatus is not necessarily limited to those explicitly listed but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus.
In the related art, the navigation method mainly comprises the following modes:
The first is conventional Two-Dimensional (2D) map navigation;
the second is AR navigation based on put arrows;
the third is AR navigation, which is a non-uniform interaction algorithm.
However, compared with AR navigation, conventional 2D map navigation is not intuitive, and cannot achieve what you see is what you get, and some users still have unclear specific directions. In an AR navigation scene, the requirements on positioning and tracking precision based on the placement arrows are high, and the Visual-Inertial Odometry (VIO) tracking algorithm which depends on high precision and high robustness is not suitable for application of lightweight small program end and low-end equipment. The non-consistency interaction algorithm has higher requirements on positioning accuracy, otherwise, the problems that an arrow route passes through a wall, the arrow route is not under the foot of a person walking and the like can occur, as shown in fig. 1, under the condition that the positioning accuracy of equipment is not high, the problem that the arrow route is not under the foot of the person walking can occur.
In order to at least partially solve one or more of the above problems and other potential problems, the present disclosure proposes a navigation display scheme, which can improve accuracy of displaying a travelling marker, such as an arrow, without requiring a device to have high positioning and tracking accuracy, thereby improving navigation accuracy and navigation effect; the problems that an arrow route passes through a wall and the arrow route is not under the foot of a person and the like due to low equipment positioning and tracking precision are solved to a certain extent.
The embodiment of the disclosure provides a navigation display method, and fig. 2 is a schematic flow chart of the navigation display method according to the embodiment of the disclosure, and the navigation display method can be applied to a navigation display device. The navigation display apparatus may be located on an electronic device including, but not limited to, a stationary device and/or a mobile device. For example, the fixed device includes, but is not limited to, a server, which may be a cloud server or a general server. For example, mobile devices include, but are not limited to: cell phone, tablet computer, vehicle terminal. In some possible implementations, the navigation display method may also be implemented by way of a processor invoking computer readable instructions stored in a memory. As shown in fig. 2, the navigation display method includes:
s201: obtaining a path point of a navigation path;
s202: determining a first path point and a second path point which are related to the current position point from the path points according to the current position point of the equipment;
s203: determining a first location point of the device based on the first path point, the first location point being a next location point to the current location point;
s204: determining a second location point of the device based on the second path point and the first location point, the second location point being a next location point to the first location point;
S205: determining display information of the traveling identifier based on the current location point, the first location point and the second location point;
s206: a travel identifier display is superimposed on the environmental image associated with the current location point based on the display information of the travel identifier, the travel identifier being used to indicate the direction of the first path point in the environmental image relative to the current location point.
In the disclosed embodiments, the navigation path may be a navigation path determined by the navigation application based on the device location and the target location (where the destination is located). In practical application, after receiving a start position and a destination position input by a user, the navigation application determines a plurality of navigation paths based on the start position and the destination position, and the navigation application determines a final displayed navigation path from a plurality of navigation paths according to a selection operation input by the user.
In an embodiment of the present disclosure, a navigation path includes a plurality of path points.
Here, the route point is a point indicating an important operation in the navigation route, including left turn, right turn, going upstairs, going downstairs, going upstairs and downstairs, going downstairs, a junction of the garage and the mall, changing a mode of transportation, an end point, and the like. The waypoints may also include other relatively important points, such as user-set travel points, other points selected according to default or user preferences (e.g., gates, toilets, cash registers, charges, stores … …, etc.), and the disclosure is not limited thereto.
In some implementations, the route points are determined based on route point coordinates and route point types. As one example, fig. 3 shows an example of a navigation path that a user would travel in the direction of points a, B, C. In this example, it may be calculated, for exampleTo calculate +.>And->And comparing the included angle with a preset included angle threshold (20 degrees, for example), and if the included angle is larger than the preset included angle threshold (20 degrees, for example), considering the path point B as a turning point. It is to be understood that the preset angle threshold is merely an example herein, and the present disclosure is not limited thereto. Alternatively, different direction change thresholds may be set, for example, a first threshold for the horizontal direction, a second threshold for the vertical direction, etc. As another alternative non-limiting example, different variance thresholds may be invoked for the fineness of the navigation selected by the user, e.g., for users requiring "fine navigation" (which may be user-actively set or automatically determined based on the characteristics of the user), smaller variance thresholds may be set, for users who do not want too much interference or detail, larger variance thresholds may be set, etc.
In addition, the turning direction may also be determined. As one non-limiting example, the information may be calculated by And->Is judged by right hand rule>To determine whether left turn or right turn. Optionally, an additional indication of the direction of the turn may be shown after the direction of the turn is determined (e.g., overlaid at or near the waypoint).
It should be noted that the present disclosure does not impose limitations on how the route points of the navigation route are obtained.
In the disclosed embodiments, the travel marker may be an arrow.
In this way, the direction of the next waypoint can be visually indicated using the arrow-shaped marker.
In the embodiment of the disclosure, the travelling marker can be set or adjusted according to the requirement of a user. For example, the travel identifier may be a fresh flower that moves from the current location of the device to the first path point. As another example, the travel identifier may be a segment of a red blanket from the current location of the device to the first path point. For another example, the travel marker may be a white snow road surface from the current location of the device to the first path point. The above is merely exemplary and is not intended to limit all possible types of travel markers, but is not intended to be exhaustive.
In an embodiment of the present disclosure, the display information of the travel marker includes the position and direction of the travel marker. The direction of travel identifier may be the direction in which the current location point points to the first location point. The location of the travel marker may be located at the location of a path from the current location point to the first location point.
Therefore, the position and the direction of the travelling marker are determined according to the position of the equipment, so that the travelling marker is positioned under the foot of a person, the problem that the arrow position penetrates through the wall or is not positioned under the foot is avoided, and the requirement on the positioning and tracking precision of the equipment is reduced.
In the disclosed embodiments, the environmental image may be an image acquired by the device in real time.
In an embodiment of the present disclosure, displaying the environmental image associated with the current location point includes displaying the environmental image using augmented reality technology.
Therefore, the displayed picture is attached to the picture currently seen by the user by combining the augmented reality technology, and the traveling direction of current navigation can be reflected more.
Referring to fig. 4, a schematic diagram of a comparison of a navigation path with a user walking path is shown. In fig. 4, a route 1 represents a navigation path, and a path 2 represents a user walking path; triangles represent the current location of the device (denoted tc), a first path point (denoted tp) and a second path point (denoted tpp) on the navigation path; the first location point (denoted as tp ') and the second location point (denoted as tpp') are located on the user walking path. It will be appreciated that the user walks the path, i.e. the path of movement of the device.
In the embodiments of the present disclosure, how to determine the first path point and the second path point specifically, how to determine the first location point and the second location point specifically will be described in detail in the subsequent embodiments, which are not described herein again.
In an embodiment of the present disclosure, displaying a travel marker superimposed on an environmental image may include: such that the travel marker moves from the device location toward the first path point in the environmental image. It should be noted that the navigation screen may be a dynamic screen, and a moving marker is used to intuitively show how the user should walk. It will be appreciated that the travel markers may be repeatedly moved, e.g., reappearance at the current location after reaching the first waypoint from the current device location and repeating the movement process, providing enhanced interaction and guidance effects to the user.
In this way, in indoor and outdoor navigation applications, the direction can be guided more clearly by means of augmented reality. By combining augmented reality with how to reasonably display travel markers that direct a forward route for a user, navigation interactions with the user can be more accurately and effectively provided.
According to the technical scheme, the route points of the navigation route are obtained; determining a first path point and a second path point which are related to the current position point from the path points according to the current position point of the equipment; determining a first location point of the device based on the first path point; determining a second location point of the device based on the second path point and the first location point; determining display information of the traveling identifier based on the current location point, the first location point and the second location point; compared with the mode of determining the display information of the travelling marker only according to the path point of the navigation path, the method and the device have the advantages that the display information of the travelling marker is determined based on the current position point, the first position point and the second position point, the determined display information of the travelling marker can be more accurate, the travelling marker has stronger correlation with the current position of the device, and the problems that an arrow route passes through a wall, the arrow route is not under a walking foot and the like due to low positioning and tracking precision of the device are solved to a certain extent. According to the technical scheme, the equipment is not required to have very high positioning and tracking precision, the accuracy of displaying the travelling marker can be improved, and therefore the navigation accuracy and the navigation effect are improved.
In some embodiments, S202 comprises:
s202a: determining the drop foot from the current position point to a target connecting line on a navigation path;
s202b: determining a path point closest to the foot drop distance on the navigation path as a first path point, wherein the first path point is a path point along the advancing direction of the navigation path;
s202c: the next path point to the first path point is determined as the second path point.
As shown in fig. 5, route 1 represents a navigation path, and route 2 represents a user walking route; the triangle represents the current position of the device (denoted tc), and a perpendicular line is drawn to the target link AB based on the current position of the device (denoted tc), resulting in a foot tz. It can be seen that the tp point is located in the direction of travel, tp is determined to be the first waypoint, and tpp is determined to be the second waypoint.
Thus, the first path point and the second path point related to the current position point can be accurately determined, and the accuracy and the rationality of the display of the travelling marker can be improved.
In some embodiments, the navigation display method may further include:
s207: obtaining a maximum path point identifier of a path point on a navigation path which the equipment passes through;
s208: under the condition that the maximum path point identifier is equal to 0, determining a target connecting line based on the path point corresponding to the maximum path point identifier and the path point corresponding to the next identifier of the maximum path point identifier;
S209: and under the condition that the maximum path point identifier is larger than 0, determining the target connecting line based on the path point corresponding to the last identifier of the maximum path point identifier and the path point corresponding to the maximum path point identifier.
In the embodiment of the disclosure, the navigation path comprises a plurality of path points, each path point has a unique identifier, and the identifiers of the path points from the starting point to the destination are gradually increased. Illustratively, the identification bit of the start point is 0, the identification bit of the next path point of the start point (denoted as path point 1) is denoted as 1, the identification bit of the next path point of the path point 1 (denoted as path point 2) is denoted as 2, the identification bit of the next path point of the path point 2 (denoted as path point 3) is denoted as 3, and so on.
Here, S207, S208, S209 are performed before S202. The S208 and S209 are parallel relationships, and are alternative relationships. That is, after the execution of S207 is completed, S208 is executed when the condition of S208 is satisfied; after the completion of S207, S209 is executed when the condition of S209 is satisfied.
Illustratively, the maximum path point identification of the path point on the navigation path that the device has passed is represented by the variable waypoint_index, if the waypoint_index is 0, it is represented as a starting point; waypoint_index is 1, indicating that the 2 nd path point is pointed to by the starting point (i.e., the first point); waypoint_index is 2, indicating that the 3 rd waypoint is pointed to by the 2 nd waypoint, and so on. If the waypoint_index is 0, calculating a line determined by two points of the waypoint_index and the waypoint_index+1; otherwise, calculate the line determined by two points, waypoint_index-1 and waypoint_index.
Therefore, the target connecting line can be rapidly determined, a calculation basis is provided for rapidly determining the first path point and the second path point which are related to the current position point, and the accuracy of the determined first path point and second path point is improved, so that the accuracy and rationality of the display of the travelling marker are improved.
In some embodiments, S203 comprises:
s203a: determining a first vector according to the drop foot and the first path point;
s203b: taking the current position point as a starting point, and obtaining a first projection point of a first path point based on a first vector;
s203c: the first proxel is determined to be a first location point of the device.
Continuing with the example of FIG. 5, a first vector (denoted as) Taking the current position point tc of the equipment as a starting point, wherein a first projection point of the first path point tp is tp ', and tp' is a first position point.
In this way, a first position point related to the current position of the equipment can be obtained, and data support is provided for the display information of the follow-up determined travelling identifier, so that the accuracy and the rationality of displaying the travelling identifier can be improved.
In some embodiments, S203a comprises:
s203a1: taking the direction of the foot drop pointing to the first path point as the direction of a first vector;
S203a2: the distance between the foot drop and the first path point is taken as the length of the first vector.
Therefore, the first vector can be rapidly determined, data support is provided for the first position point of the follow-up determination equipment, and the speed of determining the first position point of the equipment is improved, so that the real-time performance of the travelling identifier display is improved.
In some embodiments, S204 comprises:
s204a: determining a second vector from the first path point and the second path point;
s204b: obtaining a second projection point of the second path point based on the second vector by taking the first position point as a starting point;
s204c: the second proxel is determined to be a second location point of the device.
Continuing with the example of FIG. 5, a second vector (which may be referred to as) The second projection point of the second path point tpp is tpp ', tpp ' with the first position point tp ' as the starting point.
In this way, a second position point related to the current position of the equipment can be obtained, and data support is provided for the display information of the follow-up determined travelling identifier, so that the accuracy and the rationality of displaying the travelling identifier can be improved.
In some embodiments, S204a comprises:
s204a1: the direction of the first path point pointing to the second path point is taken as the direction of a second vector;
S204a2: the distance between the first path point and the second path point is taken as the length of the second vector.
Therefore, the second vector can be rapidly determined, data support is provided for the second position point of the follow-up determination equipment, and the speed of the second position point of the determination equipment is improved, so that the real-time performance of the travelling identifier display is improved.
In some embodiments, the navigation display method may further include:
s210: determining the distance between the current position point and the first position point;
s211: and updating the first path point and the second path point in response to detecting that the distance is less than a preset distance threshold.
Here, S210 and S211 may be performed after S203 and before S204.
Here, the preset distance threshold may be set or adjusted according to the user's needs. For example, the preset distance threshold is 2 meters. If the distance from the current position point to the first position point of the device is smaller than the preset distance threshold (for example, 2 meters), determining that the user has passed the first path point, and returning to step S202; if the distance from the current location point of the device to the first location point is greater than or equal to the preset distance threshold (e.g., 2 meters), it is determined that the user does not cross the first path point, and S204 to S206 are continuously performed.
Therefore, the first path point and the second path point can be adjusted in time, the accuracy and the instantaneity of the display information of the determined travelling identifier can be improved, and the navigation accuracy and the navigation experience can be improved.
Compared with the display of the travelling marker based on the non-uniform interaction algorithm, the scheme disclosed by the invention can ensure that the travelling marker keeps uniformity with the movement route of the equipment, and as shown in fig. 6, the travelling marker can be positioned under the foot of a user instead of being positioned in the air or through the wall and other error indications under the condition that the equipment does not have high positioning and tracking precision, so that the uniformity of the AR navigation route and the walking direction of people can be ensured, and the problem that the arrow route is not positioned under the foot of the people or frequently penetrates through the wall is avoided.
It should be understood that the diagrams shown in fig. 2-6 are merely illustrative and not limiting, and that various obvious changes and/or substitutions may be made by one skilled in the art based on the examples of fig. 2-6, and the resulting technical solutions still fall within the scope of the disclosed embodiments.
The navigation display processing method can be fused with augmented reality, virtual reality, computer vision, deep learning and the like, and is applied to scenes such as navigation maps, smart cities and the like.
Embodiments of the present disclosure provide a navigation display device, as shown in fig. 7, which may include: a first obtaining module 701, configured to obtain a path point of a navigation path; a first determining module 702, configured to determine, from among the path points, a first path point and a second path point related to the current location point according to the current location point of the device; a second determining module 703, configured to determine a first location point of the device based on the first path point, where the first location point is a location point next to the current location point; a third determining module 704, configured to determine a second location point of the device based on the second path point and the first location point, where the second location point is a next location point to the first location point; a fourth determining module 705 for determining display information of the traveling identifier based on the current location point, the first location point, and the second location point; a display module 706 for superimposing a travel identifier display on the environmental image associated with the current location point based on the display information of the travel identifier, the travel identifier indicating a direction of the first path point in the environmental image relative to the current location point.
In some embodiments, the first determination module 702 includes: the first determining submodule is used for determining the drop foot of the current position point to a target connecting line on the navigation path; the second determining submodule is used for determining a path point which is closest to the foot hanging distance on the navigation path as a first path point, wherein the first path point is a path point along the travelling direction of the navigation path; and a third determining sub-module for determining a next path point to the first path point as a second path point.
In some embodiments, the navigation display device further comprises: a second obtaining module 707 (not shown in the figure) for obtaining a maximum route point identifier of a route point on the navigation route that the device has passed through; a fifth determining module 708 (not shown in the figure) configured to determine, if the maximum path point identifier is equal to 0, a target connection line based on the path point corresponding to the maximum path point identifier and the path point corresponding to the next identifier of the maximum path point identifier; a sixth determining module 709 (not shown in the figure) is configured to determine, when the maximum path point identifier is greater than 0, the target connection line based on the path point corresponding to the last identifier of the maximum path point identifier and the path point corresponding to the maximum path point identifier.
In some embodiments, the second determining module 703 includes: a fourth determination submodule for determining a first vector according to the drop foot and the first path point; a fifth determining submodule, configured to obtain a first projection point of the first path point based on the first vector with the current location point as a starting point; a sixth determination sub-module is configured to determine the first projected point as a first location point of the device.
In some embodiments, the third determination module 704 includes: a seventh determining sub-module for determining a second vector from the first path point and the second path point; an eighth determining submodule, configured to obtain a second projection point of the second path point based on the second vector with the first location point as a starting point; and a ninth determination submodule for determining the second projection point as the second location point of the device.
In some embodiments, the fourth determination submodule 705 is configured to: taking the direction of the foot drop pointing to the first path point as the direction of a first vector; the distance between the foot drop and the first path point is taken as the length of the first vector.
In some embodiments, the seventh determining submodule is to: the direction of the first path point pointing to the second path point is taken as the direction of a second vector; the distance between the first path point and the second path point is taken as the length of the second vector.
In some embodiments, the navigation display device may further include: a seventh determining module 710 (not shown in the figure) for determining a distance between the current location point and the first location point; an updating module 711 (not shown) for updating the first path point and the second path point in response to detecting that the distance is less than a preset distance threshold.
It should be understood by those skilled in the art that the functions of each processing module in the navigation display device according to the embodiments of the present disclosure may be understood by referring to the foregoing description of the navigation display method, and each processing module in the navigation display device according to the embodiments of the present disclosure may be implemented by using an analog circuit that implements the functions described in the embodiments of the present disclosure, or may be implemented by running software that implements the functions described in the embodiments of the present disclosure on an electronic device.
The navigation display device disclosed by the embodiment of the disclosure can improve the accuracy of displaying the travelling marker without requiring equipment to have high positioning and tracking precision, thereby improving the navigation accuracy and the navigation effect.
The embodiment of the disclosure also provides a scene schematic diagram of navigation display, as shown in fig. 8, an electronic device such as a cloud server receives a starting place and a destination sent by a terminal; returning a navigation path for the terminal; and receiving the position information and the environment image reported by the terminal, determining the display information of the travelling identifier for the terminal, and sending the display information of the travelling identifier to the terminal so that the display device at the terminal side can display and superimpose the travelling identifier on the environment image associated with the current position point of the terminal.
The number of the terminals and the electronic devices is not limited, and a plurality of terminals and a plurality of electronic devices can be included in practical application.
It should be understood that the scene diagram shown in fig. 8 is merely illustrative and not restrictive, and that various obvious changes and/or substitutions may be made by one skilled in the art based on the example of fig. 8, and the resulting technical solutions still fall within the scope of the disclosed embodiments of the present disclosure.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 9 shows a schematic block diagram of an example electronic device 900 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile apparatuses, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing apparatuses. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 9, the apparatus 900 includes a computing unit 901 that can perform various appropriate actions and processes according to a computer program stored in a Read-Only Memory (ROM) 902 or a computer program loaded from a storage unit 908 into a random access Memory (RandomAccess Memory, RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other by a bus 904. An Input/Output (I/O) interface 905 is also connected to bus 904.
Various components in device 900 are connected to I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, or the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, an optical disk, or the like; and a communication unit 909 such as a network card, modem, wireless communication transceiver, or the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunications networks.
The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 901 include, but are not limited to, a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), various dedicated artificial intelligence (Artificial Intelligence, AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (Digital Signal Processor, DSP), and any suitable processors, controllers, microcontrollers, etc. The computing unit 901 performs the respective methods and processes described above, such as a navigation display method. For example, in some embodiments, the navigation display method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 900 via the ROM 902 and/or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the navigation display method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the navigation display method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuitry, field programmable gate arrays (Field Programmable Gate Array, FPGAs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), application-specific standard products (ASSPs), system On Chip (SOC), complex programmable logic devices (Complex Programmable Logic Device, CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access Memory, a read-Only Memory, an erasable programmable read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable compact disc read-Only Memory (Compact Disk Read Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., cathode Ray Tube (CRT) or liquid crystal display (Liquid Crystal Display, LCD) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (Local Area Network, LAN), wide area network (Wide Area Network, WAN) and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain. It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions, improvements, etc. that are within the principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (16)
1. A navigation display method, comprising:
obtaining a path point of a navigation path;
determining a first path point and a second path point which are related to the current position point from the path points according to the current position point of the equipment;
determining a first location point of the device based on the first path point, the first location point being a next location point to the current location point;
determining a second location point of the device based on the second path point and the first location point, the second location point being a next location point to the first location point;
determining display information of a traveling identifier based on the current location point, the first location point and the second location point;
superimposing the travel identifier display on an ambient image associated with the current location point based on display information of the travel identifier, the travel identifier being used to indicate a direction of the first path point in the ambient image relative to the current location point;
Wherein the determining, according to the current location point of the device, a first path point and a second path point related to the current location point from the path points includes: determining a path point closest to a foot drop distance on the navigation path as the first path point, wherein the first path point is a path point along the advancing direction of the navigation path, and the foot drop is a foot drop from the current position point to a target connecting line on the navigation path; determining a next path point of the first path point as the second path point;
wherein the determining a first location point of the device based on the first path point comprises: determining a first vector from the drop foot and the first path point; obtaining a first projection point of the first path point based on the first vector by taking the current position point as a starting point; determining the first projected point as a first location point of the device;
wherein determining a second location point of the device based on the second path point and the first location point comprises: determining a second vector from the first and second waypoints; obtaining a second projection point of the second path point based on the second vector by taking the first position point as a starting point; the second projection point is determined as a second location point of the device.
2. The method of claim 1, further comprising:
obtaining the maximum path point mark of the path point of the equipment passing through the navigation path;
under the condition that the maximum path point identifier is equal to 0, determining the target connecting line based on the path point corresponding to the maximum path point identifier and the path point corresponding to the next identifier of the maximum path point identifier;
and under the condition that the maximum path point identifier is larger than 0, determining the target connecting line based on the path point corresponding to the last identifier of the maximum path point identifier and the path point corresponding to the maximum path point identifier.
3. The method of claim 1, wherein the determining a first vector from the drop foot and the first path point comprises:
taking the direction of the foot drop pointing to the first path point as the direction of the first vector;
and taking the distance between the drop foot and the first path point as the length of the first vector.
4. The method of claim 1, wherein the determining a second vector from the first and second waypoints comprises:
the direction of the first path point pointing to the second path point is taken as the direction of the second vector;
And taking the distance between the first path point and the second path point as the length of the second vector.
5. The method of claim 1, further comprising:
determining the distance between the current position point and the first position point;
and in response to detecting that the distance is less than a preset distance threshold, updating the first path point and the second path point.
6. The method of claim 1, wherein the travel identifier is an arrow.
7. The method of claim 1, wherein the environmental image is an image acquired by the device in real-time, displaying the environmental image associated with the current location point comprising displaying the environmental image using an augmented reality technique.
8. A navigation display device, comprising:
the first acquisition module is used for acquiring the path points of the navigation path;
a first determining module, configured to determine a first path point and a second path point related to a current location point from the path points according to the current location point of the device;
a second determining module, configured to determine a first location point of the device based on the first path point, where the first location point is a location point next to the current location point;
A third determining module configured to determine a second location point of the device based on the second path point and the first location point, the second location point being a next location point to the first location point;
a fourth determining module for determining display information of a traveling identifier based on the current location point, the first location point, and the second location point;
a display module for superimposing the travel identifier display on an environmental image associated with the current location point based on display information of the travel identifier, the travel identifier being for indicating a direction of the first path point in the environmental image relative to the current location point;
wherein the first determining module includes:
the second determining submodule is used for determining a path point which is closest to a foot drop distance on the navigation path as the first path point, wherein the first path point is a path point along the advancing direction of the navigation path, and the foot drop is a foot drop from the current position point to a target connecting line on the navigation path;
a third determining sub-module configured to determine a next path point to the first path point as the second path point;
Wherein the second determining module includes: a fourth determination submodule for determining a first vector according to the drop foot and the first path point; a fifth determining submodule, configured to obtain a first projection point of the first path point based on the first vector with the current location point as a starting point; a sixth determining sub-module for determining the first projected point as a first location point of the device;
wherein the third determining module includes: a seventh determination submodule for determining a second vector according to the first waypoint and the second waypoint; an eighth determining submodule, configured to obtain a second projection point of the second path point based on the second vector with the first location point as a starting point; a ninth determination sub-module is configured to determine the second projected point as a second location point of the device.
9. The apparatus of claim 8, further comprising:
the second acquisition module is used for acquiring the maximum route point mark of the route points of the navigation route which the equipment passes through;
a fifth determining module, configured to determine, when the maximum path point identifier is equal to 0, the target connection line based on a path point corresponding to the maximum path point identifier and a path point corresponding to a next identifier of the maximum path point identifier;
And a sixth determining module, configured to determine, based on a path point corresponding to a last identifier of the maximum path point identifier and a path point corresponding to the maximum path point identifier, the target connection line when the maximum path point identifier is greater than 0.
10. The apparatus of claim 8, wherein the fourth determination submodule is configured to:
taking the direction of the foot drop pointing to the first path point as the direction of the first vector;
and taking the distance between the drop foot and the first path point as the length of the first vector.
11. The apparatus of claim 8, wherein the seventh determination submodule is configured to:
the direction of the first path point pointing to the second path point is taken as the direction of the second vector;
and taking the distance between the first path point and the second path point as the length of the second vector.
12. The apparatus of claim 8, further comprising:
a seventh determining module, configured to determine a distance between the current location point and the first location point;
and the updating module is used for updating the first path point and the second path point in response to detecting that the distance is smaller than a preset distance threshold value.
13. The apparatus of claim 8, wherein the travel identifier is an arrow.
14. The apparatus of claim 8, wherein the environmental image is an image acquired by the device in real-time, displaying the environmental image associated with the current location point comprises displaying the environmental image using an augmented reality technique.
15. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
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