CN117537818A - Evaluation method, evaluation device, electronic equipment and storage medium - Google Patents

Evaluation method, evaluation device, electronic equipment and storage medium Download PDF

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Publication number
CN117537818A
CN117537818A CN202311394392.XA CN202311394392A CN117537818A CN 117537818 A CN117537818 A CN 117537818A CN 202311394392 A CN202311394392 A CN 202311394392A CN 117537818 A CN117537818 A CN 117537818A
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China
Prior art keywords
positioning
information
target object
actual position
indoor scene
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CN202311394392.XA
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Chinese (zh)
Inventor
王建坤
孙植锐
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Jiaxing Research Institute Of South University Of Science And Technology
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Jiaxing Research Institute Of South University Of Science And Technology
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Priority to CN202311394392.XA priority Critical patent/CN117537818A/en
Publication of CN117537818A publication Critical patent/CN117537818A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

According to the evaluation method, the evaluation device, the electronic equipment and the storage medium, positioning information for respectively positioning a target object in an indoor scene through a plurality of positioning methods is obtained; determining the positioning precision of each positioning method based on the positioning information and the actual position of the target object; and evaluating the performance of each positioning method applied to the indoor scene at least based on the positioning precision, and evaluating the positioning method by combining an actual scene, thereby helping a user to select a proper positioning method.

Description

Evaluation method, evaluation device, electronic equipment and storage medium
Technical Field
The application belongs to the technical field of positioning evaluation, and particularly relates to an evaluation method, an evaluation device, electronic equipment and a storage medium.
Background
Global Positioning Systems (GPS) are generally effective in meeting positioning needs in outdoor environments. In indoor environments, however, the positioning efficiency of GPS is greatly reduced due to attenuation and disruption of signals caused by the roof and walls of the building. This problem is particularly important considering that about 80% of the time people spend in indoor environments. With the continuous expansion of indoor spaces such as high-rise buildings, shopping centers, large transportation hubs, stadiums, medical centers and the like, the demands for indoor positioning are increasing, which include personnel positioning, service robot navigation, indoor path planning and the like. For example, in an airport environment, the collection of most baggage carts still relies on manual labor, which is not only time consuming and laborious, but also requires employment of a large number of employees. If the robot capable of autonomous navigation is deployed at the airport to complete the task, the efficiency can be greatly improved, and the management cost can be reduced. However, to achieve this, the robot must be able to accurately and in real time locate the position of the baggage car that needs to be collected, which requires an efficient indoor location method. Although there are a number of positioning methods available on the market, each method has its applicable scenarios and limitations. Therefore, it is critical to select an appropriate positioning method for a particular task and environment, such as an airport.
Disclosure of Invention
In view of the above problems, embodiments of the present application provide an evaluation method, an apparatus, an electronic device, and a storage medium, which can evaluate a positioning method in combination with an actual scenario, so as to help a user select an appropriate positioning method.
The embodiment of the application provides an evaluation method, which comprises the following steps:
positioning information for respectively positioning a target object in an indoor scene by a plurality of positioning methods is obtained;
determining the positioning precision of each positioning method based on the positioning information and the actual position of the target object;
and evaluating the performance of each positioning method applied to the indoor scene at least based on the positioning accuracy.
In some embodiments, the method further comprises:
controlling the robot to process the target objects with different states based on the positioning information;
counting the success rate of the robot to process the target object;
and evaluating the performance of each positioning method in actual application in the indoor scene based on the success rate.
In some embodiments, the indoor scene comprises: in an airport, the target object comprises luggage, and the robot is used for carrying the luggage.
In some embodiments, the determining the positioning accuracy of each positioning method based on the positioning information and the actual position of the target object includes:
calculating an absolute error value and a root mean square error between the positioning information and the actual position;
and determining the positioning precision of each positioning method based on the absolute error value and the root mean square error.
In some embodiments, the calculating absolute error values and root mean square errors between the positioning information and the actual position comprises:
calculating an absolute error value between the positioning information and the actual position based on a first calculation formula, wherein the first calculation formula includes:
wherein MAE is absolute error value, n is number of actual positions, and positioning information is (x i ，y i ) The actual position is
Calculating a root mean square error between the positioning information and the actual position based on the second calculation formula;
wherein RMSE is root mean square error.
In some embodiments, the evaluating the performance of each positioning method applied in the indoor scene based at least on the positioning accuracy includes:
acquiring power supply information, coverage area and use cost of positioning equipment corresponding to each positioning method;
and evaluating the performance of each positioning method applied to the indoor scene based on the positioning precision, the power supply information of the positioning equipment, the coverage area and the use cost.
In some embodiments, the plurality of positioning methods includes: at least two of a radio frequency identification positioning method, a UWB positioning method, a key point detection positioning method and a reflector positioning method.
An embodiment of the present application provides an evaluation device, including:
the first acquisition module is used for acquiring positioning information for respectively positioning a target object in an indoor scene through a plurality of positioning methods;
the positioning module is used for determining the positioning precision of each positioning method based on the positioning information and the actual position of the target object;
and the first evaluation module is used for evaluating the performance of each positioning method applied to the indoor scene at least based on the positioning precision.
An embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements a method according to any one of the preceding claims when the processor executes the computer program.
Embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as described in any one of the above.
Embodiments of the present application provide a computer program product for causing an electronic device to perform any one of the methods described above when the computer program product is run on a terminal device.
According to the evaluation method, the evaluation device, the electronic equipment and the storage medium, positioning information for respectively positioning a target object in an indoor scene through a plurality of positioning methods is obtained; determining the positioning precision of each positioning method based on the positioning information and the actual position of the target object; and evaluating the performance of each positioning method applied to the indoor scene at least based on the positioning precision, and evaluating the positioning method by combining an actual scene, thereby helping a user to select a proper positioning method.
Drawings
The present application will be described in more detail hereinafter based on embodiments and with reference to the accompanying drawings.
Fig. 1 is a schematic implementation flow chart of an evaluation method according to an embodiment of the present application;
fig. 2 is a schematic view of a luggage cart angle and a robot rotation angle according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an evaluation device according to an embodiment of the present application;
fig. 4 is a schematic diagram of a composition structure of an electronic device according to an embodiment of the present application.
In the drawings, like parts are given like reference numerals, and the drawings are not drawn to scale.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings, and the described embodiments should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.
If a similar description of "first\second\third" appears in the application document, the following description is added, in which the terms "first\second\third" are merely distinguishing between similar objects and do not represent a particular ordering of the objects, it being understood that the "first\second\third" may be interchanged in a particular order or precedence, where allowed, so that the embodiments of the application described herein may be practiced in an order other than that illustrated or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.
Based on the problems existing in the related art, the embodiment of the present application provides an evaluation method, and an execution subject of the evaluation method may include: the embodiment of the application does not limit the specific type of the electronic device on the electronic device such as a mobile phone, a tablet computer, a wearable device, a vehicle-mounted device, an augmented reality (augmented reality, AR)/Virtual Reality (VR) device, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (personal digital assistant, PDA) and the like. The functions implemented by the evaluation method provided by the embodiment of the application may be implemented by calling a program code by a processor of the electronic device, where the program code may be stored in a computer storage medium.
An embodiment of the present application provides an evaluation method, and fig. 1 is a schematic implementation flow diagram of an evaluation method provided by the implementation of the present application, as shown in fig. 1, including:
step S101, positioning information for respectively positioning target objects in an indoor scene through a plurality of positioning methods is obtained.
In the embodiment of the application, the plurality of positioning methods may include: at least two of a radio frequency identification RFID positioning method, a UWB positioning method, a key point detection Keypints positioning method and a reflector Reflectors positioning method. Illustratively, the plurality of positioning methods includes: a radio frequency identification positioning method, a UWB positioning method and a reflector positioning method.
In this embodiment of the present application, the indoor scene may include: scenes such as airports, supermarkets, shopping centers and the like. The target object may include: an article, the article may include: luggage, cargo, etc.
In this embodiment of the present application, the indoor scene may be an actual scene, in some embodiments, a simulated scene may also be a target object, and similarly, the target object may also be a simulated object or an actual object.
In this embodiment, taking an actual scene as an example, a target object may be set in an indoor scene, and then positioning is performed by positioning devices corresponding to multiple positioning methods.
The electronic equipment can be in communication connection with the positioning equipment corresponding to each positioning method, and the electronic equipment can acquire positioning information from the positioning equipment corresponding to each positioning method.
In the embodiments of the present application, various positioning methods rely on different types of sensing technologies, RFID and UWB are illustratively dependent on wireless sensors, while Keypoints and Reflectors are based on visual and laser sensors.
Taking an airplane length as an indoor scene as an example, a plurality of suitcases are arranged in an airport, and then the suitcases are positioned by positioning equipment corresponding to the positioning methods, so that positioning information corresponding to each positioning method can be obtained.
In this embodiment of the present application, the positioning information may be represented by coordinates, and exemplarily, the positioning information is represented as: (x) i ，y i )。
Step S102, determining the positioning precision of each positioning method based on the positioning information and the actual position of the target object.
In the embodiment of the application, the positioning accuracy can represent the difference between the positioning information and the actual position. The actual location may be pre-stored. The positioning accuracy can be used as follows: absolute error values and root mean square errors between positioning information and the actual position are characterized.
In the embodiment of the application, an absolute error value and a root mean square error between the positioning information and the actual position can be calculated; and determining the positioning precision of each positioning method based on the absolute error value and the root mean square error.
In this embodiment, an absolute error value between the positioning information and the actual position is calculated based on a first calculation formula, where the first calculation formula includes:
wherein MAE is absolute error value, n is number of actual positions, and positioning information is (x i ，y i ) The actual position is
Calculating a root mean square error between the positioning information and the actual position based on the second calculation formula;
wherein RMSE is root mean square error.
And step S103, evaluating the performance of each positioning method applied to the indoor scene at least based on the positioning precision.
In the embodiment of the application, the performance of each positioning method applied to the indoor scene can be evaluated only with positioning precision. The results of the evaluation may be classified into a plurality of grades, and may be classified into, for example, excellent, good, and medium three grades. The corresponding relation between different positioning precision ranges and evaluation grades can be preset, and after the positioning precision is obtained, the positioning precision range in which the positioning precision is located can be determined, so that the corresponding grade is determined.
In some embodiments, the evaluation result may be represented by a score, different scores may correspond to different positioning accuracy ranges, and the positioning accuracy range in which the positioning accuracy is located may be determined, thereby determining the corresponding score. The higher the score, the better the performance, and the lower the score, the worse the performance.
In the embodiment of the present application, if the positioning accuracy is higher, it can be considered that the performance evaluation result of the positioning method with high positioning accuracy is better, and the performance evaluation result of the corresponding positioning method with poor positioning accuracy is poor. Illustratively, the plurality of positioning methods includes: the positioning precision of the first positioning method is the first positioning precision, the positioning precision of the second positioning method is the second positioning precision, and the first positioning method is better than the second positioning method due to the second positioning precision.
According to the evaluation method, positioning information for respectively positioning the target object in the indoor scene through a plurality of positioning methods is obtained; determining the positioning precision of each positioning method based on the positioning information and the actual position of the target object; and evaluating the performance of each positioning method applied to the indoor scene at least based on the positioning precision, and evaluating the positioning method by combining an actual scene, thereby helping a user to select a proper positioning method.
In some embodiments, step S103 may be implemented by:
step S1031, obtaining power information, coverage area and use cost of the positioning device corresponding to each positioning method.
In an embodiment of the present application, a positioning device may include: at least one of a radio frequency identification location device, a UWB location device, a keypoint detection location device, and a reflector location device.
In this embodiment of the present application, the power information may include: wired power sources, wireless power sources, etc. The coverage area is used to characterize the size of the area over which the positioning device can perform positioning. The use cost may include: price of positioning equipment, maintenance price of positioning equipment, energy consumption, etc.
The power information, coverage area and use cost of the positioning device corresponding to each positioning method can be input and acquired through an input device, wherein the input device can comprise a mouse, a keyboard and the like.
In some embodiments, scalability and the like may also be considered.
Step S1032, evaluating the performance of each positioning method applied to the indoor scene based on the positioning accuracy, the power information, the coverage area and the use cost of the positioning device.
In the embodiment of the application, the weights of the positioning precision, the power supply information of the positioning equipment, the coverage area and the use cost can be set respectively, and the weights can be set according to actual conditions when the weights are set. And each positioning method can be evaluated by integrating the positioning precision, the power supply information, the coverage area, the use cost and the corresponding weight of the positioning equipment.
In some embodiments, after step S102, the method further comprises:
step S104, controlling the robot to process the target objects with different states based on the positioning information.
In this embodiment of the present application, the robot may be a baggage handling robot. The different states may include different angles.
In this embodiment, processing a target object includes: the target object is moved. The target object may be plural, and plural target positions may be set at different positions.
Illustratively, in the context of application in an airport, where the robot is a baggage handling robot, the target object is baggage, the baggage handling robot may be controlled to handle the baggage.
Step S105, statistics is carried out on the success rate of the robot to process the target object.
In the embodiment of the application, the electronic equipment can be in communication connection with the robot, and the robot can automatically judge whether the processing is successful or not. Taking handling as an example, the electronic device may count information about whether the robot is handling successfully, so as to determine the total number of handling times and the number of times of handling successfully, thereby obtaining the success rate of handling.
And step S106, evaluating the performance of each positioning method in the indoor scene when the positioning method is actually applied based on the success rate.
In the embodiment of the application, the performance of each positioning method in carrying baggage can be obtained through the success rate of the completion of the actual task, so that the performance of the positioning method in the actual application can be more comprehensively evaluated.
In some embodiments, the positioning accuracy and the success rate may be evaluated comprehensively after the positioning accuracy and the success rate are determined.
Illustratively, the positioning method of Keypints is determined by the positioning precision and the success rate to be best performed in the automatic conveying task of the airport luggage van.
The method provided by the embodiment of the application can provide more comprehensive and more accurate positioning method evaluation by integrating various evaluation indexes. By conducting experiments in the actual environment, the practicability and reliability of the evaluation result can be ensured.
Based on the foregoing embodiments, embodiments of the present application further provide an evaluation method that evaluates four representative indoor positioning methods, including RFID, UWB, keypoints and Reflectors. These positioning methods each represent a different type of sensor technology used in indoor positioning, where RFID and UWB rely on wireless sensors, while Keypoints and Reflectors are based on visual and laser sensors. In qualitative experiments, these four methods are evaluated by a number of qualitative indicators, including positioning accuracy, whether mobile power is required, coverage area, required equipment cost, and scalability. In quantitative experiments, two key indexes of positioning accuracy and success rate of actual task completion are mainly focused on to evaluate. Through evaluation in the actual scene, the advantages and disadvantages of each positioning method and the actual application performance can be comprehensively known.
When determining the positioning accuracy of the positioning method, the absolute error (MAE) and the Root Mean Square Error (RMSE) of each method can be calculated, so that the positioning accuracy is obtained, and in the success rate evaluation, the robot has different postures, the baggage car also has different initial postures, and the baggage car has different positions and angles. The robot can have 12 rotation angles, and fig. 2 is a schematic diagram of a luggage cart angle and a robot rotation angle provided by the embodiment of the application, as shown in fig. 2, the angles of the luggage cart can be different by 30 degrees without the angle of the robot, and the robot can be controlled to work, so that the success rate of completing the luggage cart collecting task by each positioning method under different luggage cart rotation angles can be counted. The success rate of task completion of each positioning method is obtained through statistics under different rotation angles of the luggage cart, so that the performance of the luggage cart in practical application is more comprehensively known.
Illustratively, the Keypoints method performs best in airport luggage truck auto-recovery tasks, depending on positioning accuracy and success rate.
The evaluation method provided by the embodiment of the application evaluates four different indoor positioning methods through comprehensive and systematic experiments, and obtains which method is more suitable for setting a scene. Thereby facilitating the selection of the positioning method by the user.
According to the method provided by the embodiment of the application, the problem of singleness of the existing assessment method on the assessment index can be solved by assessing the positioning accuracy and the success rate in an actual application scene, and more comprehensive and accurate positioning method assessment is provided by integrating multiple assessment indexes.
According to the method provided by the embodiment of the application, the practicability and the reliability of the evaluation result are ensured by carrying out experiments in the actual environment.
The following is an application example of an evaluation method provided in the embodiments of the present application:
in an airport automation system, the method provided by the embodiment of the application can be used for evaluating and selecting an indoor positioning method which is most suitable for an airport environment, and automatic tracking and positioning of a luggage van, a service robot and the like are realized, so that the airport operation efficiency and the service quality are improved.
In large shopping centers and supermarkets, the method provided by the embodiment of the application can be used for evaluating and selecting the indoor positioning method which is most suitable for the market environment, so that automatic tracking and positioning of shopping carts, service robots and customers are realized, and the shopping experience of the customers and the market management efficiency are improved.
In an automatic driving and intelligent transportation system, the method provided by the embodiment of the application can evaluate and select the indoor positioning method suitable for traffic hubs such as stations, wharfs and the like, realize accurate positioning and tracking of vehicles, passengers and equipment, and improve traffic management efficiency and passenger traveling experience.
Based on the foregoing embodiments, embodiments of the present application provide an evaluation apparatus, where each module included in the apparatus, and each unit included in each module may be implemented by a processor in a computer device; of course, the method can also be realized by a specific logic circuit; in practice, the processor may be a central processing unit (CPU, central Processing Unit), a microprocessor (MPU, microprocessor Unit), a digital signal processor (DSP, digital Signal Processing), or a field programmable gate array (FPGA, field Programmable Gate Array), or the like.
An embodiment of the present application provides an evaluation device, fig. 3 is a schematic structural diagram of the evaluation device provided in the embodiment of the present application, and as shown in fig. 3, the evaluation device 300 includes:
the first obtaining module 301 is configured to obtain positioning information that is used to respectively position a target object in an indoor scene by using multiple positioning methods;
a positioning module 302, configured to determine positioning accuracy of each positioning method based on the positioning information and an actual position of the target object;
a first evaluation module 303, configured to evaluate performance of each positioning method applied to the indoor scene based at least on the positioning accuracy.
In some embodiments, the evaluation device further comprises:
the processing module is used for controlling the robot to process target objects with different states based on the positioning information;
the statistics module is used for counting the success rate of the robot for processing the target object;
and the second evaluation module is used for evaluating the performance of each positioning method when the positioning method is actually applied in the indoor scene based on the success rate.
In some embodiments, the indoor scene comprises: in an airport, the target object comprises luggage, and the robot is used for carrying the luggage.
In some embodiments, the positioning module 302 includes:
a calculation unit for calculating an absolute error value and a root mean square error between the positioning information and the actual position;
and a determining unit for determining the positioning accuracy of each positioning method based on the absolute error value and the root mean square error.
In some embodiments, the computing unit comprises:
a first calculation subunit configured to calculate an absolute error value between the positioning information and the actual position based on a first calculation formula, where the first calculation formula includes:
wherein MAE is absolute error value, n is number of actual positions, and positioning information is (x i ，y i ) The actual position is
A second calculation subunit configured to calculate a root mean square error between the positioning information and the actual position based on a second calculation formula;
wherein RMSE is root mean square error.
In some embodiments, the first evaluation module further comprises:
the acquisition unit is used for acquiring power supply information, coverage area and use cost of the positioning equipment corresponding to each positioning method;
and the evaluation unit is used for evaluating the performance of each positioning method applied to the indoor scene based on the positioning precision, the power supply information, the coverage area and the use cost of the positioning equipment.
In some embodiments, the plurality of positioning methods includes: at least two of a radio frequency identification positioning method, a UWB positioning method, a key point detection positioning method and a reflector positioning method.
An embodiment of the present application provides an electronic device, fig. 4 is a schematic diagram of a composition structure of the electronic device provided in the embodiment of the present application, as shown in fig. 4, and the electronic device 700 includes: a processor 701, at least one communication bus 702, a user interface 703, at least one external communication interface 704, a memory 705. Wherein the communication bus 702 is configured to enable connected communication between these components. The user interface 703 may include a display screen, and the external communication interface 704 may include a standard wired interface and a wireless interface, among others. The processor 701 is configured to execute a program of the evaluation method stored in the memory to realize the steps in the evaluation method provided in the above-described embodiment.
In the embodiment of the present application, if the above-described evaluation method is implemented in the form of a software functional module and sold or used as a separate product, it may also be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partly contributing to the prior art, and the computer software product may be stored in a storage medium, and include several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
Accordingly, an embodiment of the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the evaluation method provided in the above embodiment.
Embodiments of the present application further provide a computer program product for causing an electronic device to perform any one of the above-described evaluation methods when the computer program product is run on a terminal device.
The description of the electronic device and the storage medium embodiments above is similar to that of the method embodiments described above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the computer apparatus and the storage medium of the present application, please refer to the description of the method embodiments of the present application.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read Only Memory (ROM), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the integrated units described above may be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partly contributing to the prior art, embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a controller to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.
The foregoing is merely an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. An evaluation method, comprising:
positioning information for respectively positioning a target object in an indoor scene by a plurality of positioning methods is obtained;
determining the positioning precision of each positioning method based on the positioning information and the actual position of the target object;
and evaluating the performance of each positioning method applied to the indoor scene at least based on the positioning accuracy.
2. The method according to claim 1, wherein the method further comprises:
controlling the robot to process the target objects with different states based on the positioning information;
counting the success rate of the robot to process the target object;
and evaluating the performance of each positioning method in actual application in the indoor scene based on the success rate.
3. The method of claim 2, wherein the indoor scene comprises: in an airport, the target object comprises luggage, and the robot is used for carrying the luggage.
4. The method of claim 1, wherein determining the positioning accuracy of each positioning method based on the positioning information and the actual position of the target object comprises:
calculating an absolute error value and a root mean square error between the positioning information and the actual position;
and determining the positioning precision of each positioning method based on the absolute error value and the root mean square error.
5. The method of claim 4, wherein said calculating absolute error values and root mean square errors between said positioning information and said actual position comprises:
calculating an absolute error value between the positioning information and the actual position based on a first calculation formula, wherein the first calculation formula includes:
wherein MAE is absolute error value, n is number of actual positions, and positioning information is (x i ，y i ) The actual position is
Calculating a root mean square error between the positioning information and the actual position based on the second calculation formula;
wherein RMSE is root mean square error.
6. The method of claim 1, wherein the evaluating performance of each positioning method applied in the indoor scene based at least on the positioning accuracy comprises:
acquiring power supply information, coverage area and use cost of positioning equipment corresponding to each positioning method;
and evaluating the performance of each positioning method applied to the indoor scene based on the positioning precision, the power supply information of the positioning equipment, the coverage area and the use cost.
7. The method according to any one of claims 1 to 6, wherein the plurality of positioning methods comprises: at least two of a radio frequency identification positioning method, a UWB positioning method, a key point detection positioning method and a reflector positioning method.
8. An evaluation device, characterized by comprising:
the first acquisition module is used for acquiring positioning information for respectively positioning a target object in an indoor scene through a plurality of positioning methods;
the positioning module is used for determining the positioning precision of each positioning method based on the positioning information and the actual position of the target object;
and the first evaluation module is used for evaluating the performance of each positioning method applied to the indoor scene at least based on the positioning precision.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 7.
CN202311394392.XA 2023-10-25 2023-10-25 Evaluation method, evaluation device, electronic equipment and storage medium Pending CN117537818A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311394392.XA CN117537818A (en) 2023-10-25 2023-10-25 Evaluation method, evaluation device, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311394392.XA CN117537818A (en) 2023-10-25 2023-10-25 Evaluation method, evaluation device, electronic equipment and storage medium

Publications (1)

Publication Number Publication Date
CN117537818A true CN117537818A (en) 2024-02-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311394392.XA Pending CN117537818A (en) 2023-10-25 2023-10-25 Evaluation method, evaluation device, electronic equipment and storage medium

Country Status (1)

Country Link
CN (1) CN117537818A (en)

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