WO2019015562A1 - 全视觉导航定位方法、智能终端及存储装置 - Google Patents

全视觉导航定位方法、智能终端及存储装置 Download PDF

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Publication number
WO2019015562A1
WO2019015562A1 PCT/CN2018/095912 CN2018095912W WO2019015562A1 WO 2019015562 A1 WO2019015562 A1 WO 2019015562A1 CN 2018095912 W CN2018095912 W CN 2018095912W WO 2019015562 A1 WO2019015562 A1 WO 2019015562A1
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WO
WIPO (PCT)
Prior art keywords
network speed
navigation
smart terminal
positioning
threshold
Prior art date
Application number
PCT/CN2018/095912
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English (en)
French (fr)
Inventor
冯旭
毛涛
郑玉森
刘明亮
梁琰彬
夏西平
Original Assignee
惠州Tcl移动通信有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 惠州Tcl移动通信有限公司 filed Critical 惠州Tcl移动通信有限公司
Priority to US16/630,519 priority Critical patent/US11131557B2/en
Publication of WO2019015562A1 publication Critical patent/WO2019015562A1/zh

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Classifications

    • 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
    • G01C21/3635—Guidance using 3D or perspective road maps
    • 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
    • G01C21/3647—Guidance involving output of stored or live camera images or video streams
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/50—Testing arrangements

Definitions

  • the invention relates to the technical field of intelligent terminal navigation application, in particular to a full visual navigation positioning method, an intelligent terminal and a storage device.
  • the embodiment of the invention provides a full visual navigation and positioning method, an intelligent terminal and a storage device, which can scan a road street scene through a camera, roughly locate according to AGPS, and then use background data to compare with landmark image pixels of the street scene, thereby quickly Positioning and navigation based on the user's location makes navigation easier.
  • an embodiment of the present invention provides a full visual navigation positioning method, where the method includes the following steps:
  • the intelligent terminal starts 3D full visual navigation, and performs network speed test through the background of the smart terminal;
  • the camera is started to collect image information of the current street view and uploads
  • the collected image information is compared with the 3D panoramic map, and the real-time position is fed back, and the navigation is continuously performed using the 3D navigation system according to the position.
  • the full visual navigation positioning method wherein the step of the smart terminal to enable 3D full visual navigation and the network speed test in the background of the smart terminal further includes:
  • a minimum network speed threshold x using full-vision 3D positioning navigation and a minimum network speed threshold y required to assist the global satellite positioning system are preset.
  • the full visual navigation positioning method wherein the step of the smart terminal to enable the 3D full visual navigation and the network speed test in the background of the smart terminal includes:
  • pre-positioning is performed in advance by the auxiliary global satellite positioning system according to the closest base station information;
  • the smart terminal While performing the pre-positioning, the smart terminal is controlled to detect the current network speed m in the background.
  • the full visual navigation positioning method wherein when the smart terminal detects that the current network speed m is greater than or equal to the threshold x, the step of the camera to capture the image information of the current street view and uploading the steps includes:
  • the smart terminal detects that the current network speed m and the threshold value x set in advance are compared in size;
  • the base station information is read, and the camera is controlled to collect the street view photo and uploaded to the cloud 3D map processor.
  • the full visual navigation positioning method after the step of comparing the current network speed m with the preset threshold x by the smart terminal, the method further includes:
  • the network speed m is smaller than the threshold value x, the network speed m is further compared with the threshold value y.
  • the full visual navigation positioning method wherein when the network speed m is greater than or equal to the threshold y, the control uses the auxiliary global satellite positioning system and the plane map for navigation.
  • the full visual navigation positioning method wherein when the network speed m is smaller than the threshold y, the control uses GPS for navigation.
  • the full visual navigation positioning method wherein the step of comparing the collected image information with a 3D panoramic map and then feeding back a real-time position, and continuing to navigate using the 3D navigation system according to the location, specifically includes:
  • the cloud feeds back geographical location information and performs positioning
  • an embodiment of the present invention provides a smart terminal, including: a processor, a memory communicatively coupled to the processor, the memory storing a computer program, the processor being configured to invoke a computer program in the memory To achieve the following steps:
  • the intelligent terminal starts 3D full visual navigation, and performs network speed test through the background of the smart terminal;
  • the camera is started to collect image information of the current street view and uploads
  • the collected image information is compared with the 3D panoramic map, and the real-time position is fed back, and the navigation is continuously performed using the 3D navigation system according to the position.
  • the step of the smart terminal opening the 3D full visual navigation and performing the network speed test in the background of the smart terminal further includes:
  • a minimum network speed threshold x using full-vision 3D positioning navigation and a minimum network speed threshold y required to assist the global satellite positioning system are preset.
  • the step of performing the network speed test in the background of the smart terminal by using the smart terminal to enable 3D full-vision navigation specifically includes:
  • pre-positioning is performed in advance by the auxiliary global satellite positioning system according to the closest base station information;
  • the smart terminal While performing the pre-positioning, the smart terminal is controlled to detect the current network speed m in the background.
  • the smart terminal detects that the current network speed m and the threshold value x set in advance are compared in size;
  • the base station information is read, and the camera is controlled to collect the street view photo and uploaded to the cloud 3D map processor.
  • the method further includes:
  • the network speed m is smaller than the threshold value x, the network speed m is further compared with the threshold value y.
  • the control uses the auxiliary global satellite positioning system and the plane map for navigation.
  • the control uses GPS for navigation.
  • the step of comparing the collected image information with the 3D panoramic map and then feeding back the real-time position, and continuing to navigate using the 3D navigation system according to the location specifically includes:
  • the cloud feeds back geographical location information and performs positioning
  • an embodiment of the present invention provides a storage device, wherein the storage device stores a computer program, and the computer program can be executed to implement the following steps:
  • the intelligent terminal starts 3D full visual navigation, and performs network speed test through the background of the smart terminal;
  • the camera is started to collect image information of the current street view and uploads
  • the collected image information is compared with the 3D panoramic map, and the real-time position is fed back, and the navigation is continuously performed using the 3D navigation system according to the position.
  • the step of the smart terminal opening the 3D full visual navigation and performing the network speed test in the background of the smart terminal further includes:
  • a minimum network speed threshold x using full-vision 3D positioning navigation and a minimum network speed threshold y required to assist the global satellite positioning system are preset.
  • the step of performing the network speed test in the background of the smart terminal by using the smart terminal to enable 3D full-vision navigation specifically includes:
  • pre-positioning is performed in advance by the auxiliary global satellite positioning system according to the closest base station information;
  • the smart terminal While performing the pre-positioning, the smart terminal is controlled to detect the current network speed m in the background.
  • the smart terminal detects that the current network speed m and the threshold value x set in advance are compared in size;
  • the base station information is read, and the camera is controlled to collect the street view photo and uploaded to the cloud 3D map processor.
  • the invention discloses a full visual navigation and positioning method, an intelligent terminal and a storage device, the method comprising: the intelligent terminal enabling 3D full visual navigation, and performing network speed testing through the intelligent terminal in the background; when the intelligent terminal detects When the current network speed m is greater than or equal to the threshold value x, the camera is started to collect the image information of the current street scene and uploaded; the collected image information is compared with the 3D panoramic map, and the real-time position is fed back, and the 3D navigation system is used according to the position.
  • the invention scans the road street scene through the camera, roughly locates according to the AGPS, and then uses the background data to compare with the iconic image pixels of the street scene, thereby quickly positioning and navigating according to the position of the user, so that the navigation is more convenient.
  • FIG. 1 is a flow chart of an embodiment of a full visual navigation positioning method provided by the present invention.
  • FIG. 2 is a functional block diagram of a smart terminal according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of an intelligent terminal according to an embodiment of the present invention.
  • the full visual navigation positioning method according to the embodiment of the present invention is a full visual navigation positioning method, which includes the following steps:
  • Step S100 The smart terminal starts 3D full visual navigation, and performs network speed testing through the background of the smart terminal.
  • the method further includes: presetting a minimum network speed threshold x using full-vision 3D positioning navigation, and assisting a minimum network speed threshold y required by the global satellite positioning system.
  • the invention first passes AGPS (Assisted Global) Positioning System, a GPS-assisted system, can use the information of the intelligent terminal base station to match the traditional GPS satellites to make the positioning faster.
  • AGPS will be based on the nearest base station.
  • Information to the communication device (smart terminal) a general positioning information, then the communication device will read a general positioning information, and then use the camera of the communication device to scan the street scene.
  • step S100 specifically includes:
  • Step S200 When the smart terminal detects that the current network speed m is greater than or equal to the threshold x, the camera is started to collect image information of the current street view and uploaded.
  • the threshold x represents a minimum network speed threshold using full-vision 3D positioning navigation
  • the threshold y represents a minimum AGPS network speed requirement threshold
  • the intelligent terminal performs a network speed test in the background, and retrieves The location information of the base station, when the current network speed m is greater than or equal to the threshold x, the smart terminal camera is turned on, and the voice "Please face the camera facing the street” is prompted, and the camera is controlled to collect the street view picture (the street view building in front of the camera, etc.) Featured markers) and uploaded in real time.
  • step S200 specifically includes:
  • the smart terminal detects that the current network speed m and the threshold value x set in advance are compared by a size
  • the step S200 further includes comparing the network speed m with the threshold value y when the network speed m is smaller than the threshold value x.
  • the control uses the auxiliary global satellite positioning system to navigate with the plane map.
  • the control uses GPS for navigation.
  • Step S300 Comparing the collected image information with the 3D panoramic map, and then feeding back the real-time position, and continuously using the 3D navigation system to perform navigation according to the position.
  • the third-party panoramic map of the third party is used to perform nearby street view comparison, thereby quickly positioning and subsequent navigation of the user's own location, and using the full visual positioning navigation can make the user more convenient to locate. More visual and convenient navigation and arrival at the destination.
  • the positioning is generally about 10s, and the positioning is performed by the technical solution of the present invention.
  • the positioning time does not exceed 5s in a good network condition. If the network condition is not good, the minimum threshold network speed is not reached, and the automatic communication device positioning mode can be automatically switched. .
  • step S300 specifically includes:
  • the cloud feeds back geographical location information and performs positioning.
  • the smart terminal includes: a processor 10, a memory 20, and a communication interface (Communications). Interface) 30 and bus 40; wherein
  • the processor 10, the memory 20, and the communication interface 30 complete communication with each other through the bus 40;
  • the communication interface 30 is used for information transmission between communication devices of the smart terminal;
  • the processor 10 is configured to invoke a computer program in the memory 20 to perform the method provided by the foregoing method embodiments, for example, including: the smart terminal turns on 3D full visual navigation, and performs network speed through the smart terminal. Testing; when the smart terminal detects that the current network speed m is greater than or equal to the threshold x, the camera is started to collect the image information of the current street scene and uploaded; and the collected image information is compared with the 3D panoramic map, and the real-time position is fed back. The navigation is continued using the 3D navigation system according to the location.
  • FIG. 3 is a block diagram showing a specific structure of an intelligent terminal according to an embodiment of the present invention.
  • the smart terminal can be used to implement the full visual navigation and positioning method, the intelligent terminal, and the storage device provided in the foregoing embodiments.
  • the smart terminal 1200 can be a smartphone or a tablet.
  • the smart terminal 1200 may include an RF (Radio Frequency) circuit 110, a memory 120 including one or more (only one shown) computer-readable storage medium, an input unit 130, and a display unit. 140, sensor 150, audio circuit 160, transmission module 170, including processor 180 having one or more processing cores (only one shown) and power supply 190 and the like.
  • RF Radio Frequency
  • FIG. 3 does not constitute a limitation on the smart terminal 1200, and may include more or less components than those illustrated, or combine some components or different components. Arrangement. among them:
  • the RF circuit 110 is configured to receive and transmit electromagnetic waves, and realize mutual conversion between electromagnetic waves and electrical signals, thereby communicating with a communication network or other devices.
  • the RF circuit 110 may include various existing circuit elements for performing these functions, such as an antenna, a radio frequency transceiver, a digital signal processor, an encryption/decryption chip, a Subscriber Identity Module (SIM) card, a memory, and the like.
  • SIM Subscriber Identity Module
  • the RF circuit 110 can communicate with various networks such as the Internet, an intranet, a wireless network, or communicate with other devices over a wireless network.
  • the wireless network described above may include a cellular telephone network, a wireless local area network, or a metropolitan area network.
  • the above wireless networks may use various communication standards, protocols and technologies, including but not limited to global mobile communication systems (Global System for Mobile Communication, GSM), Enhanced Mobile Communication Technology (Enhanced Data GSM Environment, EDGE), Wideband Code Division Multiple Access (Wideband Code) Division Multiple Access, WCDMA), Code Division Multiple Access (Code Division) Access, CDMA), Time Division Multiple Access (TDMA), Wireless Fidelity (Wireless Fidelity, Wi-Fi) (such as the Institute of Electrical and Electronics Engineers Standard IEEE 802.11a, IEEE 802.11b, IEEE 802.11g and / or IEEE 802.11n), VoIP (Voice) Over Internet Protocol, VoIP), Worldwide Interoperability for Microwave Access (Worldwide Interoperability for Microwave Access, Wi-Max, other protocols for mail, instant messaging, and short messages, as well as any other suitable communication protocol, may even include protocols that are not currently being developed.
  • GSM Global System for Mobile Communication
  • EDGE Enhanced Mobile Communication Technology
  • WCDMA Wideband Code Division Multiple Access
  • CDMA Code Division Multiple
  • the memory 120 can be used to store software programs and modules, such as the full visual navigation positioning method, the intelligent terminal and the program instructions/modules corresponding to the storage device in the above embodiment, and the processor 180 runs the software program and the module stored in the memory 120, thereby Perform various function applications and data processing, that is, realize the function of full visual navigation and positioning.
  • Memory 120 can include high speed random access memory, and can also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory.
  • memory 120 can further include memory remotely located relative to processor 180, which can be connected to smart terminal 1200 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the input unit 130 can be configured to receive input numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls.
  • input unit 130 can include touch-sensitive surface 131 as well as other input devices 132.
  • Touch-sensitive surface 131 also referred to as a touch display or trackpad, can collect touch operations on or near the user (such as a user using a finger, stylus, etc., on any suitable object or accessory on touch-sensitive surface 131 or The operation near the touch-sensitive surface 131) and driving the corresponding connecting device according to a preset program.
  • the touch-sensitive surface 131 can include two portions of a touch detection device and a touch controller.
  • the touch detection device detects the touch orientation of the user, and detects a signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts the touch information into contact coordinates, and sends the touch information.
  • the processor 180 is provided and can receive commands from the processor 180 and execute them.
  • the touch-sensitive surface 131 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic waves.
  • the input unit 130 can also include other input devices 132.
  • other input devices 132 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, joysticks, and the like.
  • the display unit 140 can be used to display information input by the user or information provided to the user and various graphical user interfaces of the smart terminal 1200, which can be composed of graphics, text, icons, video, and any combination thereof.
  • the display unit 140 may include a display panel 141, and optionally, an LCD (Liquid may be used)
  • the display panel 141 is configured in the form of a Crystal Display (LCD) or an OLED (Organic Light-Emitting Diode).
  • touch-sensitive surface 131 may cover the display panel 141, and when the touch-sensitive surface 131 detects a touch operation thereon or nearby, it is transmitted to the processor 180 to determine the type of the touch event, and then the processor 180 according to the touch event The type provides a corresponding visual output on display panel 141.
  • touch-sensitive surface 131 and display panel 141 are implemented as two separate components to implement input and input functions, in some embodiments, touch-sensitive surface 131 can be integrated with display panel 141 for input. And output function.
  • the smart terminal 1200 can also include at least one type of sensor 150, such as a light sensor, motion sensor, and other sensors.
  • the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display panel 141 according to the brightness of the ambient light, and the proximity sensor may close the display panel 141 when the smart terminal 1200 moves to the ear. And / or backlight.
  • the gravity acceleration sensor can detect the magnitude of acceleration in all directions (usually three axes). When it is stationary, it can detect the magnitude and direction of gravity.
  • the smart terminal 1200 can also be configured with gyroscopes, barometers, hygrometers, thermometers, infrared sensors and other sensors, here No longer.
  • the audio circuit 160, the speaker 161, and the microphone 162 can provide an audio interface between the user and the smart terminal 1200.
  • the audio circuit 160 can transmit the converted electrical data of the received audio data to the speaker 161 for conversion to the sound signal output by the speaker 161; on the other hand, the microphone 162 converts the collected sound signal into an electrical signal by the audio circuit 160. After receiving, it is converted into audio data, and then processed by the audio data output processor 180, transmitted to the terminal, for example, via the RF circuit 110, or outputted to the memory 120 for further processing.
  • the audio circuit 160 may also include an earbud jack to provide communication of the peripheral earphones with the smart terminal 1200.
  • the smart terminal 1200 can help the user to send and receive emails, browse web pages, and access streaming media through the transmission module 170 (for example, a Wi-Fi module), which provides wireless broadband Internet access for users.
  • the transmission module 170 for example, a Wi-Fi module
  • FIG. 3 shows the transmission module 170, it can be understood that it does not belong to the essential configuration of the smart terminal 1200, and may be omitted as needed within the scope of not changing the essence of the invention.
  • the processor 180 is a control center of the smart terminal 1200 that connects various portions of the entire handset with various interfaces and lines, by running or executing software programs and/or modules stored in the memory 120, and recalling data stored in the memory 120.
  • the various functions and processing data of the smart terminal 1200 are executed to perform overall monitoring of the mobile phone.
  • the processor 180 may include one or more processing cores; in some embodiments, the processor 180 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and For applications, etc., the modem processor primarily handles wireless communications. It can be understood that the above modem processor may not be integrated into the processor 180.
  • the intelligent terminal 1200 also includes a power supply 190 (such as a battery) that supplies power to various components.
  • the power supply can be logically coupled to the processor 180 through a power management system to manage charging, discharging, and power consumption through the power management system. Management and other functions.
  • Power supply 190 may also include any one or more of a DC or AC power source, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.
  • the smart terminal 1200 may further include a camera (such as a front camera, a rear camera), a Bluetooth module, and the like, and details are not described herein.
  • the display unit of the smart terminal is a touch screen display
  • the smart terminal further includes a memory, and one or more programs, wherein one or more programs are stored in the memory and configured to be one or one
  • the above processor executes one or more programs that include instructions for performing the following operations:
  • the intelligent terminal starts 3D full visual navigation, and performs network speed test through the background of the smart terminal;
  • the camera is started to collect image information of the current street view and uploads
  • the collected image information is compared with the 3D panoramic map, and the real-time position is fed back, and the navigation is continuously performed using the 3D navigation system according to the position.
  • the step of the smart terminal opening the 3D full visual navigation and performing the network speed test in the background of the smart terminal further includes:
  • a minimum network speed threshold x using full-vision 3D positioning navigation and a minimum network speed threshold y required to assist the global satellite positioning system are preset.
  • the step of performing the network speed test in the background of the smart terminal by using the smart terminal to enable 3D full-vision navigation specifically includes:
  • pre-positioning is performed in advance by the auxiliary global satellite positioning system according to the closest base station information;
  • the smart terminal While performing the pre-positioning, the smart terminal is controlled to detect the current network speed m in the background.
  • the smart terminal detects that the current network speed m and the threshold value x set in advance are compared in size;
  • the base station information is read, and the camera is controlled to collect the street view photo and uploaded to the cloud 3D map processor.
  • the method further includes:
  • the network speed m is smaller than the threshold value x, the network speed m is further compared with the threshold value y.
  • the control uses the auxiliary global satellite positioning system and the plane map for navigation.
  • the control uses GPS for navigation.
  • the step of comparing the collected image information with the 3D panoramic map and then feeding back the real-time position, and continuing to navigate using the 3D navigation system according to the location specifically includes:
  • the cloud feeds back geographical location information and performs positioning
  • the present invention also provides a storage device, wherein the storage device stores a computer program that can be executed to implement the full visual navigation positioning method.
  • the present invention provides a full visual navigation positioning method, an intelligent terminal, and a storage device, the method comprising: the intelligent terminal turning on 3D full visual navigation, and performing network speed testing through the background of the intelligent terminal;
  • the camera is started to collect the image information of the current street scene and uploaded; and the collected image information is compared with the 3D panoramic map, and the real-time position is fed back, according to the The location continues to navigate using the 3D navigation system.
  • the invention scans the road street scene through the camera, roughly locates according to the AGPS, and then uses the background data to compare with the iconic image pixels of the street scene, thereby quickly positioning and navigating according to the position of the user, so that the navigation is more convenient.
  • a computer program to instruct related hardware (such as a processor, a controller, etc.), and the program can be stored in one.
  • the program when executed, may include the processes of the various method embodiments as described above.
  • the storage medium described therein may be a memory, a magnetic disk, an optical disk, or the like.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Automation & Control Theory (AREA)
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Abstract

全视觉导航定位方法、智能终端及存储装置，该方法包括：智能终端开启3D全视觉导航，并通过智能终端后台进行网速测试；当智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传；将采集到的图像信息与3D全景地图进行比对后反馈实时位置，根据位置使用3D导航系统持续进行导航。

Description

全视觉导航定位方法、智能终端及存储装置
本申请要求于2017年7月17日提交中国专利局、申请号为201710582179.X、发明名称为“一种全视觉导航定位方法、智能终端及存储装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及智能终端导航应用技术领域，具体涉及一种全视觉导航定位方法、智能终端及存储装置。
 背景技术
随着电子设备的外观设计，用户使用的电子设备上的GPS天线环境也越来越差，往往在用户进行导航的时候，每当走到高楼大厦的林立密集区，或者林荫大道之下，电子设备（手机、平板、车载导航等智能通讯设备）往往定位比较慢，而且在某些环境下会引起信号中断（掉星），或者导航偏移，且GPS定位时间较长的问题。即使有时候导航正确，平面的指示不够直观，也需要让用户进行信息的判定与筛选。
因此，现有技术还有待于改进和发展。
 技术问题
本发明实施例提供一种全视觉导航定位方法、智能终端及存储装置，可以通过摄像头对道路街景进行扫描，根据AGPS大致定位，然后利用后台数据与街景的标志性图像像素进行对比，从而快速的根据用户的位置进行定位和导航，使导航更加方便。
 技术解决方案
第一方面，本发明实施例提供一种全视觉导航定位方法，其中，所述方法包括以下步骤：
智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试；
当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传；
将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航。
所述的全视觉导航定位方法，其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤之前还包括：
预先设置一使用全视觉3D定位导航的最低网速阈值x，以及辅助全球卫星定位系统要求的最低网速阈值y。
所述的全视觉导航定位方法，其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤，具体包括：
当所述智能终端开启3D全视觉导航后，预先通过所述辅助全球卫星定位系统根据最接近的基站信息进行预定位；
在进行预定位的同时，控制所述智能终端后台检测当前的网速m。
所述的全视觉导航定位方法，其中，所述当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传的步骤，具体包括：
将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较；
当所述网速m大于等于所述阈值x时，读取基站信息，并控制所述摄像头采集街景照片上传到云端3D地图处理器。
所述的全视觉导航定位方法，其中，所述将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较的步骤之后，还包括：
当所述网速m小于所述阈值x时，再将所述网速m与所述阈值y进行大小比较。
所述的全视觉导航定位方法，其中，当所述网速m大于等于所述阈值y时，控制采用辅助全球卫星定位系统与平面地图进行导航。
所述的全视觉导航定位方法，其中，当所述网速m小于所述阈值y时，控制采用GPS进行导航。
所述的全视觉导航定位方法，其中，所述将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航的步骤，具体包括：
将上传到所述云端3D地图处理器的街景照片和与第三方提供的3D全景地图进行附近街景比对；
所述云端反馈地理位置信息，进行定位；
根据设定的目的地，通过3D导航系统开始持续进行导航。
第二方面，本发明实施例提供一种智能终端，其中，包括：处理器、与处理器通信连接的存储器，所述存储器存储有计算机程序，所述处理器用于调用所述存储器中的计算机程序，以实现如下步骤：
智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试；
当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传；
将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航。
其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤之前还包括：
预先设置一使用全视觉3D定位导航的最低网速阈值x，以及辅助全球卫星定位系统要求的最低网速阈值y。
其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤，具体包括：
当所述智能终端开启3D全视觉导航后，预先通过所述辅助全球卫星定位系统根据最接近的基站信息进行预定位；
在进行预定位的同时，控制所述智能终端后台检测当前的网速m。
其中，所述当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传的步骤，具体包括：
将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较；
当所述网速m大于等于所述阈值x时，读取基站信息，并控制所述摄像头采集街景照片上传到云端3D地图处理器。
其中，所述将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较的步骤之后，还包括：
当所述网速m小于所述阈值x时，再将所述网速m与所述阈值y进行大小比较。
其中，当所述网速m大于等于所述阈值y时，控制采用辅助全球卫星定位系统与平面地图进行导航。
其中，当所述网速m小于所述阈值y时，控制采用GPS进行导航。
其中，所述将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航的步骤，具体包括：
将上传到所述云端3D地图处理器的街景照片和与第三方提供的3D全景地图进行附近街景比对；
所述云端反馈地理位置信息，进行定位；
根据设定的目的地，通过3D导航系统开始持续进行导航。
第三方面，本发明实施例提供一种存储装置，其中，所述存储装置存储有计算机程序，所述计算机程序能够被执行以用于实现如下步骤：
智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试；
当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传；
将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航。
其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤之前还包括：
预先设置一使用全视觉3D定位导航的最低网速阈值x，以及辅助全球卫星定位系统要求的最低网速阈值y。
其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤，具体包括：
当所述智能终端开启3D全视觉导航后，预先通过所述辅助全球卫星定位系统根据最接近的基站信息进行预定位；
在进行预定位的同时，控制所述智能终端后台检测当前的网速m。
其中，所述当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传的步骤，具体包括：
将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较；
当所述网速m大于等于所述阈值x时，读取基站信息，并控制所述摄像头采集街景照片上传到云端3D地图处理器。
 有益效果
本发明公开了一种全视觉导航定位方法、智能终端及存储装置，所述方法包括：智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试；当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传；将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航。本发明通过摄像头对道路街景进行扫描，根据AGPS大致定位，然后利用后台数据与街景的标志性图像像素进行对比，从而快速的根据用户的位置进行定位和导航，使导航更加方便。
 附图说明
图1是本发明提供的全视觉导航定位方法的实施例的流程图。
图2是本发明实施例提供的智能终端的功能原理框图。
图3是本发明实施例提供的智能终端的结构示意图。
 本发明的最佳实施方式
为使本发明的目的、技术方案及优点更加清楚、明确，以下参照附图并举实施例对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明实施例所述的全视觉导航定位方法，如图1所示，一种全视觉导航定位方法，其中，包括以下步骤：
步骤S100、智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试。
具体地，所述步骤100之前还包括：预先设置一使用全视觉3D定位导航的最低网速阈值x，以及辅助全球卫星定位系统要求的最低网速阈值y。
本发明先通过AGPS（Assisted Global Positioning System，辅助全球卫星定位系统，是一种GPS的运行方式，它可以利用智能终端基地站的资讯，配合传统GPS卫星，让定位的速度更快）进行预定位，由于AGPS会根据最近的基站信息，给通讯设备（智能终端）一个大概的定位信息，这时通讯设备会读取到一个大概的定位信息，然后利用通信设备的摄像头对街景进行扫描。
进一步地，所述步骤S100具体包括：
S101，当所述智能终端开启3D全视觉导航后，预先通过所述辅助全球卫星定位系统根据最接近的基站信息进行预定位；
S102，在进行预定位的同时，控制所述智能终端后台检测当前的网速m。
步骤S200、当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传。
具体地，阈值x代表使用全视觉3D定位导航的最低网速阈值，阈值y代表最低的AGPS网速要求阈值；当打开3D全视觉网速导航后，智能终端后台进行网速测试实测，调取基站的位置信息，当满足当前的网速m大于等于阈值x的网速时，智能终端摄像头打开，并提示“请将摄像头面向街道”的语音，控制摄像头采集街景图片（摄像头面前的街景建筑等特色标志物）并实时上传。
进一步地，所述步骤S200具体包括：
S201，将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较；
S202，当所述网速m大于等于所述阈值x时，读取基站信息，并控制所述摄像头采集街景照片上传到云端3D地图处理器。
优选地，所述步骤S200还包括：当所述网速m小于所述阈值x时，再将所述网速m与所述阈值y进行大小比较。当所述网速m大于等于所述阈值y时，控制采用辅助全球卫星定位系统与平面地图进行导航。当所述网速m小于所述阈值y时，控制采用GPS进行导航。
步骤S300、将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航。
具体地，根据之前的大致定位，和第三方的3D全景地图进行附近街景比对，从而快速的对用户自己的位置进行定位和后续导航，并且使用全视觉定位导航可以使用户更方便的进行定位，更形象便捷的导航，并抵达目的地。
定位一般在10s左右，采用本发明的技术方案进行定位，在网络良好情况下定位时间不会超过5s，如果网络情况不好，达不到最低阈值网速，可以自动切换到普通通讯设备定位方式。
进一步地，所述步骤S300具体包括：
S301，将上传到所述云端3D地图处理器的街景照片和与第三方提供的3D全景地图进行附近街景比对；
S302，所述云端反馈地理位置信息，进行定位；
S303，根据设定的目的地，通过3D导航系统开始持续进行导航。
本发明还提供了一种智能终端，如图2所示，所述智能终端包括：处理器(processor)10、存储器(memory)20、通信接口(Communications Interface)30和总线40；其中，
所述处理器10、存储器20、通信接口30通过所述总线40完成相互间的通信；
所述通信接口30用于所述智能终端的通信设备之间的信息传输；
所述处理器10用于调用所述存储器20中的计算机程序，以执行上述各方法实施例所提供的方法，例如包括：智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试；当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传；将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航。
图3示出了本发明实施例提供的智能终端的具体结构框图，该智能终端可以用于实施上述实施例中提供的全视觉导航定位方法、智能终端及存储装置。该智能终端1200可以为智能手机或平板电脑。
如图3所示，智能终端1200可以包括RF（Radio Frequency，射频）电路110、包括有一个或一个以上（图中仅示出一个）计算机可读存储介质的存储器120、输入单元130、显示单元140、传感器150、音频电路160、传输模块170、包括有一个或者一个以上（图中仅示出一个）处理核心的处理器180以及电源190等部件。本领域技术人员可以理解，图3中示出的智能终端1200结构并不构成对智能终端1200的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。其中：
RF电路110用于接收以及发送电磁波，实现电磁波与电信号的相互转换，从而与通讯网络或者其他设备进行通讯。RF电路110可包括各种现有的用于执行这些功能的电路元件，例如，天线、射频收发器、数字信号处理器、加密/解密芯片、用户身份模块（SIM）卡、存储器等等。RF电路110可与各种网络如互联网、企业内部网、无线网络进行通讯或者通过无线网络与其他设备进行通讯。上述的无线网络可包括蜂窝式电话网、无线局域网或者城域网。上述的无线网络可以使用各种通信标准、协议及技术，包括但并不限于全球移动通信系统（Global System for Mobile Communication, GSM）、增强型移动通信技术（Enhanced Data GSM Environment, EDGE)，宽带码分多址技术（Wideband Code Division Multiple Access, WCDMA），码分多址技术（Code Division Access, CDMA）、时分多址技术（Time Division Multiple Access, TDMA），无线保真技术（Wireless Fidelity， Wi-Fi）（如美国电气和电子工程师协会标准 IEEE 802.11a， IEEE 802.11b, IEEE802.11g 和/或 IEEE 802.11n）、网络电话（Voice over Internet Protocol, VoIP）、全球微波互联接入（Worldwide Interoperability for Microwave Access， Wi-Max）、其他用于邮件、即时通讯及短消息的协议，以及任何其他合适的通讯协议，甚至可包括那些当前仍未被开发出来的协议。
存储器120可用于存储软件程序以及模块，如上述实施例中全视觉导航定位方法、智能终端及存储装置对应的程序指令/模块，处理器180通过运行存储在存储器120内的软件程序以及模块，从而执行各种功能应用以及数据处理，即实现全视觉导航定位的功能。存储器120可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器120可进一步包括相对于处理器180远程设置的存储器，这些远程存储器可以通过网络连接至智能终端1200。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入单元130可用于接收输入的数字或字符信息，以及产生与用户设置以及功能控制有关的键盘、鼠标、操作杆、光学或者轨迹球信号输入。具体地，输入单元130可包括触敏表面131以及其他输入设备132。触敏表面131，也称为触摸显示屏或者触控板，可收集用户在其上或附近的触摸操作（比如用户使用手指、触笔等任何适合的物体或附件在触敏表面131上或在触敏表面131附近的操作），并根据预先设定的程式驱动相应的连接装置。可选的，触敏表面131可包括触摸检测装置和触摸控制器两个部分。其中，触摸检测装置检测用户的触摸方位，并检测触摸操作带来的信号，将信号传送给触摸控制器；触摸控制器从触摸检测装置上接收触摸信息，并将它转换成触点坐标，再送给处理器180，并能接收处理器180发来的命令并加以执行。此外，可以采用电阻式、电容式、红外线以及表面声波等多种类型实现触敏表面131。除了触敏表面131，输入单元130还可以包括其他输入设备132。具体地，其他输入设备132可以包括但不限于物理键盘、功能键（比如音量控制按键、开关按键等）、轨迹球、鼠标、操作杆等中的一种或多种。
显示单元140可用于显示由用户输入的信息或提供给用户的信息以及智能终端1200的各种图形用户接口，这些图形用户接口可以由图形、文本、图标、视频和其任意组合来构成。显示单元140可包括显示面板141，可选的，可以采用LCD(Liquid Crystal Display，液晶显示器)、OLED(Organic Light-Emitting Diode,有机发光二极管)等形式来配置显示面板141。进一步的，触敏表面131可覆盖显示面板141，当触敏表面131检测到在其上或附近的触摸操作后，传送给处理器180以确定触摸事件的类型，随后处理器180根据触摸事件的类型在显示面板141上提供相应的视觉输出。虽然在图3中，触敏表面131与显示面板141是作为两个独立的部件来实现输入和输入功能，但是在某些实施例中，可以将触敏表面131与显示面板141集成而实现输入和输出功能。
智能终端1200还可包括至少一种传感器150，比如光传感器、运动传感器以及其他传感器。具体地，光传感器可包括环境光传感器及接近传感器，其中，环境光传感器可根据环境光线的明暗来调节显示面板141的亮度，接近传感器可在智能终端1200移动到耳边时，关闭显示面板141和/或背光。作为运动传感器的一种，重力加速度传感器可检测各个方向上（一般为三轴）加速度的大小，静止时可检测出重力的大小及方向，可用于识别手机姿态的应用（比如横竖屏切换、相关游戏、磁力计姿态校准）、振动识别相关功能（比如计步器、敲击）等; 至于智能终端1200还可配置的陀螺仪、气压计、湿度计、温度计、红外线传感器等其他传感器，在此不再赘述。
音频电路160、扬声器161，传声器162可提供用户与智能终端1200之间的音频接口。音频电路160可将接收到的音频数据转换后的电信号，传输到扬声器161，由扬声器161转换为声音信号输出；另一方面，传声器162将收集的声音信号转换为电信号，由音频电路160接收后转换为音频数据，再将音频数据输出处理器180处理后，经RF电路110以发送给比如另一终端，或者将音频数据输出至存储器120以便进一步处理。音频电路160还可能包括耳塞插孔，以提供外设耳机与智能终端1200的通信。
智能终端1200通过传输模块170（例如Wi-Fi模块）可以帮助用户收发电子邮件、浏览网页和访问流式媒体等，它为用户提供了无线的宽带互联网访问。虽然图3示出了传输模块170，但是可以理解的是，其并不属于智能终端1200的必须构成，完全可以根据需要在不改变发明的本质的范围内而省略。
处理器180是智能终端1200的控制中心，利用各种接口和线路连接整个手机的各个部分，通过运行或执行存储在存储器120内的软件程序和/或模块，以及调用存储在存储器120内的数据，执行智能终端1200的各种功能和处理数据，从而对手机进行整体监控。可选的，处理器180可包括一个或多个处理核心；在一些实施例中，处理器180可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到处理器180中。
智能终端1200还包括给各个部件供电的电源190（比如电池），在一些实施例中，电源可以通过电源管理系统与处理器180逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。电源190还可以包括一个或一个以上的直流或交流电源、再充电系统、电源故障检测电路、电源转换器或者逆变器、电源状态指示器等任意组件。
尽管未示出，智能终端1200还可以包括摄像头（如前置摄像头、后置摄像头）、蓝牙模块等，在此不再赘述。具体在本实施例中，智能终端的显示单元是触摸屏显示器，智能终端还包括有存储器，以及一个或者一个以上的程序，其中一个或者一个以上程序存储于存储器中，且经配置以由一个或者一个以上处理器执行述一个或者一个以上程序包含用于进行以下操作的指令：
智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试；
当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传；
将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航。
其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤之前还包括：
预先设置一使用全视觉3D定位导航的最低网速阈值x，以及辅助全球卫星定位系统要求的最低网速阈值y。
其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤，具体包括：
当所述智能终端开启3D全视觉导航后，预先通过所述辅助全球卫星定位系统根据最接近的基站信息进行预定位；
在进行预定位的同时，控制所述智能终端后台检测当前的网速m。
其中，所述当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传的步骤，具体包括：
将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较；
当所述网速m大于等于所述阈值x时，读取基站信息，并控制所述摄像头采集街景照片上传到云端3D地图处理器。
其中，所述将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较的步骤之后，还包括：
当所述网速m小于所述阈值x时，再将所述网速m与所述阈值y进行大小比较。
其中，当所述网速m大于等于所述阈值y时，控制采用辅助全球卫星定位系统与平面地图进行导航。
其中，当所述网速m小于所述阈值y时，控制采用GPS进行导航。
其中，所述将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航的步骤，具体包括：
将上传到所述云端3D地图处理器的街景照片和与第三方提供的3D全景地图进行附近街景比对；
所述云端反馈地理位置信息，进行定位；
根据设定的目的地，通过3D导航系统开始持续进行导航。
本发明还提供一种存储装置，其中，所述存储装置存储有计算机程序，所述计算机程序能够被执行以实现所述的全视觉导航定位方法。
综上所述，本发明提供了一种全视觉导航定位方法、智能终端及存储装置，所述方法包括：智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试；当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传；将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航。本发明通过摄像头对道路街景进行扫描，根据AGPS大致定位，然后利用后台数据与街景的标志性图像像素进行对比，从而快速的根据用户的位置进行定位和导航，使导航更加方便。
当然，本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关硬件（如处理器，控制器等）来完成，所述的程序可存储于一计算机可读取的存储介质中，该程序在执行时可包括如上述各方法实施例的流程。其中所述的存储介质可为存储器、磁碟、光盘等。
应当理解的是，本发明的应用不限于上述的举例，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，所有这些改进和变换都应属于本发明所附权利要求的保护范围。

Claims (20)

  1. 一种全视觉导航定位方法，其中，所述方法包括以下步骤：
    智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试；
    当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传；
    将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航。
  2. 根据权利要求1所述的全视觉导航定位方法，其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤之前还包括：
    预先设置一使用全视觉3D定位导航的最低网速阈值x，以及辅助全球卫星定位系统要求的最低网速阈值y。
  3. 根据权利要求2所述的全视觉导航定位方法，其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤，具体包括：
    当所述智能终端开启3D全视觉导航后，预先通过所述辅助全球卫星定位系统根据最接近的基站信息进行预定位；
    在进行预定位的同时，控制所述智能终端后台检测当前的网速m。
  4. 根据权利要求3所述的全视觉导航定位方法，其中，所述当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传的步骤，具体包括：
    将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较；
    当所述网速m大于等于所述阈值x时，读取基站信息，并控制所述摄像头采集街景照片上传到云端3D地图处理器。
  5. 根据权利要求4所述的全视觉导航定位方法，其中，所述将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较的步骤之后，还包括：
    当所述网速m小于所述阈值x时，再将所述网速m与所述阈值y进行大小比较。
  6. 根据权利要求5所述的全视觉导航定位方法，其中，当所述网速m大于等于所述阈值y时，控制采用辅助全球卫星定位系统与平面地图进行导航。
  7. 根据权利要求5所述的全视觉导航定位方法，其中，当所述网速m小于所述阈值y时，控制采用GPS进行导航。
  8. 根据权利要求4所述的全视觉导航定位方法，其中，所述将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航的步骤，具体包括：
    将上传到所述云端3D地图处理器的街景照片和与第三方提供的3D全景地图进行附近街景比对；
    所述云端反馈地理位置信息，进行定位；
    根据设定的目的地，通过3D导航系统开始持续进行导航。
  9. 一种智能终端，其中，包括：处理器、与处理器通信连接的存储器，所述存储器存储有计算机程序，所述处理器用于调用所述存储器中的计算机程序，以实现如下步骤：
    智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试；
    当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传；
    将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航。
  10. 根据权利要求9所述的智能终端，其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤之前还包括：
    预先设置一使用全视觉3D定位导航的最低网速阈值x，以及辅助全球卫星定位系统要求的最低网速阈值y。
  11. 根据权利要求10所述的智能终端，其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤，具体包括：
    当所述智能终端开启3D全视觉导航后，预先通过所述辅助全球卫星定位系统根据最接近的基站信息进行预定位；
    在进行预定位的同时，控制所述智能终端后台检测当前的网速m。
  12. 根据权利要求11所述的智能终端，其中，所述当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传的步骤，具体包括：
    将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较；
    当所述网速m大于等于所述阈值x时，读取基站信息，并控制所述摄像头采集街景照片上传到云端3D地图处理器。
  13. 根据权利要求12所述的智能终端，其中，所述将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较的步骤之后，还包括：
    当所述网速m小于所述阈值x时，再将所述网速m与所述阈值y进行大小比较。
  14. 根据权利要求13所述的智能终端，其中，当所述网速m大于等于所述阈值y时，控制采用辅助全球卫星定位系统与平面地图进行导航。
  15. 根据权利要求13所述的智能终端，其中，当所述网速m小于所述阈值y时，控制采用GPS进行导航。
  16. 根据权利要求12所述的智能终端，其中，所述将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航的步骤，具体包括：
    将上传到所述云端3D地图处理器的街景照片和与第三方提供的3D全景地图进行附近街景比对；
    所述云端反馈地理位置信息，进行定位；
    根据设定的目的地，通过3D导航系统开始持续进行导航。
  17. 一种存储装置，其中，所述存储装置存储有计算机程序，所述计算机程序能够被执行以用于实现如下步骤：
    智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试；
    当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传；
    将采集到的所述图像信息与3D全景地图进行比对后反馈实时位置，根据所述位置使用3D导航系统持续进行导航。
  18. 根据权利要求17所述的存储装置，其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤之前还包括：
    预先设置一使用全视觉3D定位导航的最低网速阈值x，以及辅助全球卫星定位系统要求的最低网速阈值y。
  19. 根据权利要求18所述的存储装置，其中，所述智能终端开启3D全视觉导航，并通过所述智能终端后台进行网速测试的步骤，具体包括：
    当所述智能终端开启3D全视觉导航后，预先通过所述辅助全球卫星定位系统根据最接近的基站信息进行预定位；
    在进行预定位的同时，控制所述智能终端后台检测当前的网速m。
  20. 根据权利要求19所述的存储装置，其中，所述当所述智能终端检测到当前的网速m大于等于阈值x时，开启摄像头采集当前街景的图像信息并上传的步骤，具体包括：
    将所述智能终端检测到当前的网速m和预先设置的所述阈值x进行大小比较；
    当所述网速m大于等于所述阈值x时，读取基站信息，并控制所述摄像头采集街景照片上传到云端3D地图处理器。
PCT/CN2018/095912 2017-07-17 2018-07-17 全视觉导航定位方法、智能终端及存储装置 WO2019015562A1 (zh)

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