WO2019086000A1 - 定位方法以及装置、服务器及系统 - Google Patents

定位方法以及装置、服务器及系统 Download PDF

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Publication number
WO2019086000A1
WO2019086000A1 PCT/CN2018/113708 CN2018113708W WO2019086000A1 WO 2019086000 A1 WO2019086000 A1 WO 2019086000A1 CN 2018113708 W CN2018113708 W CN 2018113708W WO 2019086000 A1 WO2019086000 A1 WO 2019086000A1
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WO
WIPO (PCT)
Prior art keywords
location information
landmark
road sign
current location
information
Prior art date
Application number
PCT/CN2018/113708
Other languages
English (en)
French (fr)
Inventor
贾云翔
张云辉
Original Assignee
中兴通讯股份有限公司
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 中兴通讯股份有限公司 filed Critical 中兴通讯股份有限公司
Priority to KR1020207015778A priority Critical patent/KR102394103B1/ko
Priority to US16/760,510 priority patent/US20210199814A1/en
Publication of WO2019086000A1 publication Critical patent/WO2019086000A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude

Definitions

  • the present disclosure relates to positioning techniques, such as to a positioning method and apparatus, server, and system.
  • the outdoor positioning system mainly relies on the Global Positioning System (GPS) as the main positioning means, and receives the GPS satellite signal, and estimates the current position according to the GPS signals of the plurality of satellites.
  • GPS Global Positioning System
  • GPS positioning accuracy can only reach 10 meters, which limits the application range of outdoor positioning systems, and it is increasingly difficult to meet the future requirements for outdoor positioning accuracy (such as driverless cars, drones, and automatic delivery). Trucks, etc.)
  • GPS also has the disadvantages of poor positioning accuracy in rainy days, high-rise building blockage and no signal on the tunnel leading to failure to work properly.
  • the present disclosure provides a positioning method and apparatus, server and system to improve positioning accuracy.
  • An embodiment of the present disclosure provides a positioning method, including: determining current location information, transmitting the current location information to a positioning server, receiving identification information of a roadmap sent by a positioning server, and signpost location information; acquiring an image of a current location, matching the location And determining, when the matching is successful, the corrected current location information according to the landmark location information, or the current location information and the landmark location information.
  • the embodiment of the present disclosure further provides a positioning method, including: receiving current location information; searching a landmark library according to the current location information, and transmitting the searched identification information and landmark location information of the landmark that matches the current location information.
  • the embodiment of the present disclosure further provides a positioning method, including: acquiring identification information of a road sign according to an image of a current location, determining landmark location information of the road sign according to current location information; and identifying information of the road sign and a road sign of the road sign Location information is sent to the location server.
  • the embodiment of the present disclosure further provides a positioning method, including: acquiring identification information of the road sign according to the image of the current location, sending the identification information of the road sign to the positioning server; and receiving the road sign location information of the road sign sent by the positioning server; The landmark location information, or the current location information and the landmark location information, obtain corrected current location information.
  • the embodiment of the present disclosure further provides a positioning method, including: receiving identification information of a road sign; searching for a road sign library according to the identification information of the road sign, and transmitting the searched road sign position information of the road sign.
  • An embodiment of the present disclosure further provides a positioning apparatus, including: a visual processing unit, a first communication unit, and a vision sensor, wherein:
  • the visual processing unit is configured to determine current location information
  • the first communication unit is configured to send the current location information to the location server, and receive the identifier information and the landmark location information of the road sign sent by the location server;
  • the visual sensor is configured to acquire an image of a current location
  • the visual processing unit is further configured to match the image and the identification information of the road sign.
  • the corrected current location information is obtained according to the landmark location information, or the current location information and the landmark location information. .
  • the embodiment of the present disclosure further provides a positioning server, including: a road sign processing unit and a second communication unit, wherein:
  • the second communication unit is configured to receive current location information
  • the road sign processing unit is configured to search the road sign library according to the current location information
  • the second communication unit is further configured to send the identifier information and the landmark location information of the landmark that is searched by the landmark processing unit and matched with the current location information.
  • An embodiment of the present disclosure further provides a positioning apparatus, including: a visual processing unit, a first communication unit, and a vision sensor, wherein:
  • the visual sensor is configured to acquire an image of a current location
  • the visual processing unit is configured to acquire identification information of the road sign according to the image of the current location, and determine landmark location information of the road sign according to the current location information;
  • the first communication unit is configured to send the identification information of the road sign and the landmark location information to the positioning server.
  • An embodiment of the present disclosure further provides a positioning apparatus, including: a visual processing unit, a communication unit, and a visual sensor, wherein:
  • the visual sensor is configured to acquire an image of a current location
  • the visual processing unit is configured to acquire identification information of the road sign according to the image of the current location
  • the communication unit is configured to send the identification information of the road sign to the positioning server; and receive the road sign location information of the road sign sent by the positioning server;
  • the visual processing unit is further configured to obtain corrected current location information according to the landmark location information, or the current location information and the landmark location information.
  • An embodiment of the present disclosure further provides a positioning server, including: a road sign processing unit and a communication unit, where:
  • the communication unit is configured to receive identification information of a road sign
  • the road sign processing unit is configured to search for a road sign library according to the identification information of the road sign;
  • the communication unit is further configured to send the road sign location information of the road sign searched by the road sign processing unit.
  • Embodiments of the present disclosure also provide a positioning system including the positioning device as described above, and a positioning server as described above.
  • Embodiments of the present disclosure also provide a computer readable storage medium storing computer executable instructions arranged to perform a positioning method as described above.
  • Embodiments of the present disclosure include: determining current location information, transmitting the current location information to a location server, receiving identification information of a roadmap sent by a location server, and landmark location information; acquiring an image of a current location, matching the image with the roadmap Identification information, when the matching is successful, the corrected current location information is obtained according to the landmark location information, or the current location information and the landmark location information.
  • the positioning device may combine the current location information with the landmark information provided by the positioning server to improve the positioning accuracy of the positioning device.
  • the positioning device may send the modified landmark position information to the positioning server, so that the positioning server fuses the landmark location information reported by the plurality of positioning devices, and improves the accuracy of the landmark in the landmark library.
  • the positioning device can actively report the landmark location information, so that the positioning server fuses the landmark location information reported by the multiple positioning devices, enriches the landmark library, and improves the accuracy of the landmark in the landmark library.
  • the location information of the landmark can be obtained by the positioning server, which improves the accuracy of positioning of the positioning device.
  • FIG. 1 is a schematic diagram of the composition of a positioning system according to an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of positioning implementation of a positioning system according to an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of a positioning method in a first case of an embodiment of the present disclosure
  • FIG. 4 is a schematic diagram of a positioning method in a first case according to another embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of a positioning method in a second case according to an embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram of a positioning method in a third case according to an embodiment of the present disclosure.
  • FIG. 7 is a schematic diagram of a positioning method applied to a positioning device according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of a positioning method applied to a positioning device according to another embodiment of the present disclosure.
  • FIG. 9 is a schematic diagram of a positioning method applied to a positioning device according to still another embodiment of the present disclosure.
  • FIG. 10 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure.
  • FIG. 11 is a schematic diagram of updating location information of a positioning apparatus according to an embodiment of the present disclosure.
  • FIG. 12 is a schematic diagram of a positioning method applied to a positioning server according to an embodiment of the present disclosure.
  • FIG. 13 is a schematic diagram of a positioning method applied to a positioning server according to another embodiment of the present disclosure.
  • FIG. 14 is a schematic diagram of a positioning method applied to a positioning server according to still another embodiment of the present disclosure.
  • FIG. 15 is a schematic structural diagram of a positioning server according to an embodiment of the present disclosure.
  • FIG. 16 is a schematic diagram of an application example 1 positioning implementation according to an embodiment of the present disclosure.
  • FIG. 17 is a schematic diagram of an application example 2 positioning implementation according to an embodiment of the present disclosure.
  • the positioning system of the embodiment of the present disclosure includes a positioning device 11 and a positioning server 12.
  • the positioning device 11 can also be referred to as a front-end positioning device, and can be deployed on a mobile device that needs to locate a service, such as an autonomous driving car or a drone.
  • the positioning server 12 can be used as a map server, disposed in the cloud server, and the positioning device 11 and The location server 12 is in a communication connection.
  • the positioning device 11 can continuously report the calculated current position to the positioning server 12, and the positioning server 12 performs location search in the landmark library. If there is a road sign near the positioning device 11, the landmark information will be displayed. It is sent to the positioning device 11. In the initial stage of the system operation, the road sign library may not have a known road sign at the location. In this case, the positioning device 11 can be located on the one hand using the original satellite positioning system (for example, GPS system, Beidou, etc.). At the same time, the roadmap is extracted from the image, and the location information provided by the third-party positioning system is integrated to optimize the positioning accuracy, and the landmark location information is reported to the location server 12.
  • the original satellite positioning system for example, GPS system, Beidou, etc.
  • the location server receives the location report of the location device 11 and retrieves the corresponding roadmap, the landmark location information is sent to the location device 11, and the location device 11 can match the landmark in the image and be used for positioning.
  • the location information provided by the three-way positioning system optimizes the positioning accuracy.
  • satellite positioning system may also be another third-party positioning system that can provide location information, which is not limited by the disclosure.
  • the landmark information may include identification information of the road sign and location information of the landmark, the location information of the landmark includes the location of the landmark, and may further include an error estimate.
  • the auxiliary image positioning technology is combined with the positioning technology of the satellite positioning system according to the location information of the landmarks sent by the positioning server, thereby improving the positioning accuracy and revising the road sign.
  • the location is sent to the location server, and the location server combines the location information of the landmarks reported by the plurality of positioning devices to further improve the accuracy of the road sign.
  • the first case is a first case:
  • the positioning device obtains the landmark location information from the positioning server according to the current location information, and is set to correct the current location information. Referring to FIG. 3, the following steps include step 301, step 302, and step 303.
  • step 301 the positioning device determines current location information and transmits the current location information to the location server.
  • the positioning server receives the current location information sent by the positioning device, searches the landmark library according to the current location information, and sends the searched identification information and the landmark location information of the landmark that matches the current location information to the location. Positioning device.
  • step 303 the positioning device acquires an image of the current location, and matches the image with the identification information of the landmark.
  • the location information is corrected according to the landmark location information, or the current location information and the landmark location information are corrected. Current location information.
  • the positioning device can combine the current location information with the landmark location information provided by the positioning server to improve the positioning accuracy.
  • the current location information is the location information of the positioning device itself.
  • the determining the current location information includes: acquiring location information sent by the satellite positioning system as the current location information; or acquiring the location information sent by the satellite positioning system.
  • the location information combined with the visual location information and the location information sent by the satellite positioning system, determines the current location information.
  • the satellite positioning system may be a GPS system, a Beidou system, or other third-party positioning system that can provide location information.
  • the visual positioning information is an image obtained by the positioning device according to the visual sensor, and the visual positioning information is obtained according to the image.
  • the current location information obtained according to the landmark location information includes: determining a relative location of the current location and the landmark, and obtaining corrected current location information according to the relative location and the landmark location information. .
  • the determining the current location information according to the current location information and the landmark location information comprises: determining a relative location of the current location and the landmark, according to the relative location and the landmark location information Determining current estimated location information, and obtaining corrected current location information according to the current location information and the current estimated location information.
  • the non-linear optimization manner may be adopted, and the corrected current location information is obtained according to the current location information and the current estimated location information.
  • the determining the relative position of the current location and the landmark includes: acquiring depth information of the image of the current location and a location change relationship of the image, according to the depth information and the location change relationship, The relative position of the current location to the landmark.
  • the depth information of the image may be obtained by a visual sensor and a visual processing unit in the positioning device, wherein the visual sensor may adopt a binocular camera, and a triangle is processed through a visual processing unit through a baseline of a known binocular camera.
  • the measurement can obtain the depth information of the landmark point, or the visual sensor adopts the scheme of the monocular camera plus the inertial measurement unit (IMU), and the scale information of the monocular camera can be restored by the IMU integration technique, and the red and green can also be used.
  • IMU inertial measurement unit
  • RGBD Red-Green-Blue-Depth
  • the visual positioning technology is integrated with the third-party positioning technology, thereby improving the positioning accuracy.
  • the identification information of the road sign may include a picture of the road sign, such as a traffic sign picture, a roadside shop, a building picture, and the like.
  • the image of the current location matching the identification information of the road sign refers to comparing the image of the current location with the image of the road sign. If the image of the current location and the picture of the road sign are consistent, the matching is successful; if the image of the current location and the image of the landmark are inconsistent, the matching fails.
  • the identification information of the road sign may include text information of the road sign, such as the name of the street and the name of the roadside shop.
  • the image of the current location matches the identification information of the road sign, and the image of the current location is compared with the text information of the road sign. If the image of the current location contains the text information, the matching is successful, and if the text information is not included, the matching fails.
  • the positioning device may report the corrected landmark position information to the positioning server, as shown in FIG. 4, and after step 303, the following steps 404 and 405 are included.
  • step 404 the positioning device corrects the landmark location information to obtain corrected landmark location information, and transmits the modified landmark location information to the location server.
  • step 405 the location server updates the landmark location information of the landmark in the landmark library according to the modified landmark location information.
  • the positioning device sends the modified landmark location information to the positioning server, so that the positioning server combines the landmark information reported by the multiple positioning devices to further improve the accuracy of the landmark.
  • the correcting the landmark location information to obtain the corrected landmark location information includes: determining a relative location of the current location and the landmark, and obtaining, according to the relative location and the corrected current location information, Modified signpost location information.
  • the location server uses a non-linear optimization manner to update the landmark location information of the landmark in the landmark database according to the modified landmark location information.
  • the second case is a first case
  • the positioning device actively reports the location information of the road sign for the location server to store in the road sign library; in this case, usually, in the initial state, there is no relevant road sign information in the road sign library in the positioning server, and the positioning device uploads the road sign information to the road sign library.
  • step 501 the positioning device acquires the identification information of the landmark according to the image of the current location, determines the landmark location information of the landmark according to the current location information, and sends the identification information of the landmark and the landmark location information to the positioning server.
  • the positioning server receives the identification information of the road sign sent by the positioning device and the landmark location information, and searches for the road sign in the road sign library according to the identification information, and if the road sign exists, according to the received
  • the landmark location information updates the landmark location information stored in the landmark database; if the landmark does not exist, the identification information of the landmark and the landmark location information are stored in the landmark library.
  • the positioning device sends the road sign information to the positioning server, so that the positioning server fuses the road sign information reported by the plurality of positioning devices, thereby further improving the accuracy of the road sign.
  • the method before the determining device determines the landmark location information of the road sign according to the current location information, the method further includes: the positioning device acquiring location information sent by the satellite positioning system as current location information; or the positioning The device acquires the location information sent by the satellite positioning system, and combines the visual positioning information with the location information sent by the satellite positioning system to determine the current location information.
  • the determining the landmark location information of the landmark according to the current location information comprises: determining a relative location of the current location and the landmark, and determining the landmark location information according to the relative location and current location information.
  • the determining the relative position of the current location and the landmark includes: acquiring depth information of the image of the current location and a location change relationship of the image, according to the depth information and the location change relationship, The relative position of the current location to the landmark.
  • the landmark location information stored in the landmark library is updated according to the received landmark location information in a non-linear optimization manner.
  • the third case is a first case.
  • the positioning device obtains the landmark location information from the positioning server according to the identification information of the road sign, and is used for correcting the current location information, which is usually a condition that the satellite positioning system is unavailable or has an error, and can be looped by detecting the road sign for correcting the current Wrong location information.
  • step 601 the positioning device acquires the identification information of the road sign according to the image of the current location, and sends the identification information of the road sign to the positioning server.
  • the location server searches for the landmark library according to the identification information of the landmark, and sends the searched landmark location information of the landmark to the positioning device.
  • step 603 the positioning device obtains corrected current location information according to the landmark location information, or the current location information and the landmark location information.
  • the location information can be obtained by the positioning server according to the identification information of the road sign, thereby improving the accuracy of positioning of the positioning device.
  • the signposts for day and night changes will be different in their images.
  • the location device sends the signpost information to the location server, the location device can bring time information, and the location server establishes different time-corresponding information for each road sign.
  • the location server may set a certain life cycle for each road sign.
  • a certain road sign is not updated for a long time, or is not observed after many times, the road sign will be deleted after reaching the life cycle upper limit. This situation can solve the situation where the roadside is replaced or moved due to road construction or relocation.
  • the identification information includes information of the traffic sign
  • the positioning device may train using the picture of the traffic sign to identify the traffic sign from the image.
  • the positioning system of the embodiment of the present disclosure based on the existing satellite positioning system, combines machine vision, big data analysis, deep learning and other technical means to form a positioning system with continuous learning and precision optimization, and improves the traditional positioning method.
  • the accuracy is based on the existing satellite positioning system.
  • the following describes the positioning device and the positioning server separately.
  • the positioning method of the embodiment of the present disclosure is applied to the positioning device, including: step 701, step 702, and step 703.
  • step 701 current location information is determined, and the current location information is sent to the location server.
  • step 702 the identification information and the landmark location information of the road sign sent by the positioning server are received.
  • step 703 an image of the current location is acquired, and the image and the identification information of the road sign are matched.
  • the corrected current status is obtained according to the landmark location information, or the current location information and the landmark location information. location information.
  • the positioning device may combine the current location information with the landmark location information provided by the positioning server to obtain the corrected current location information, and improve the positioning accuracy.
  • the determining the current location information includes: acquiring location information sent by the satellite positioning system as current location information; or acquiring location information sent by the satellite positioning system, combining the visual positioning information and the location sent by the satellite positioning system. Information to determine current location information.
  • the current location information obtained according to the landmark location information includes: determining a relative location of the current location and the landmark, and obtaining corrected current location information according to the relative location and the landmark location information. .
  • the determining the current location information according to the current location information and the landmark location information comprises: determining a relative location of the current location and the landmark, according to the relative location and the landmark location information Determining current estimated location information, and obtaining corrected current location information according to the current location information and the current estimated location information.
  • the visual positioning technology is integrated with the third-party positioning technology, thereby improving the positioning accuracy.
  • the determining the relative position of the current location and the landmark includes: acquiring depth information of the image of the current location and a location change relationship of the image, according to the depth information and the location change relationship, The relative position of the current location to the landmark.
  • the image of the current location is acquired, and the identification information of the road sign is matched.
  • the method further includes: modifying the landmark location information to obtain corrected landmark location information;
  • the location information of the road sign is sent to the location server.
  • the positioning device sends the modified landmark location information to the location server, so that the location server combines the landmark location information reported by the multiple positioning devices to further improve the accuracy of the landmark.
  • the correcting the landmark location information to obtain the corrected landmark location information includes: determining a relative location of the current location and the landmark, and obtaining, according to the relative location and the corrected current location information, Modified signpost location information.
  • the method when the modified landmark location information is sent to the location server, the method further includes: sending the current time information to the location server.
  • the positioning method of another embodiment of the present disclosure is applied to a positioning apparatus, including: step 801 and step 802.
  • step 801 the identification information of the road sign is acquired according to the image of the current location, and the landmark location information of the road sign is determined according to the current location information.
  • step 802 the identification information of the road sign and the landmark location information are transmitted to the location server.
  • the positioning device sends the identification information of the road sign and the location information of the road sign to the positioning server, so that the positioning server fuses the landmark position information reported by the plurality of positioning devices, thereby further improving the accuracy of the road sign.
  • the method before determining the landmark location information of the landmark according to the current location information, the method further includes: acquiring location information sent by the satellite positioning system as current location information; or acquiring location information sent by the satellite positioning system, The current location information is determined by combining the visual positioning information with the location information transmitted by the satellite positioning system.
  • the determining the landmark location information of the landmark according to the current location information comprises: determining a relative location of the current location and the landmark, and determining the landmark location information according to the relative location and current location information.
  • a positioning method according to another embodiment of the present disclosure is applied to a positioning apparatus, including: step 901, step 902, and step 903.
  • step 901 the identification information of the road sign is acquired according to the image of the current location, and the identification information of the road sign is sent to the positioning server.
  • step 902 the landmark location information of the landmark sent by the location server is received.
  • corrected current location information is obtained according to the landmark location information, or the current location information and the landmark location information.
  • the location information of the landmark is obtained by the positioning server, and the corrected current location information is obtained, thereby improving the accuracy of positioning of the positioning device.
  • the method before the obtaining the corrected current location information according to the current location information and the landmark location information, the method further includes: acquiring location information sent by the satellite positioning system as current location information; or acquiring The location information sent by the satellite positioning system, combined with the visual positioning information and the location information sent by the satellite positioning system, determines the current location information.
  • the current location information obtained according to the landmark location information includes: determining a relative location of the current location and the landmark, and obtaining corrected current location information according to the relative location and the landmark location information. .
  • the determining the current location information according to the current location information and the landmark location information comprises: determining a relative location of the current location and the landmark, according to the relative location and the landmark location information Determining current estimated location information, and obtaining corrected current location information according to the current location information and the current estimated location information.
  • the positioning apparatus of the embodiment of the present disclosure includes: a visual processing unit 1001, a first communication unit 1002, and a visual sensor 1003, and may further include a satellite positioning system receiving unit 1004.
  • the visual processing unit 1001 is configured to determine current location information; the first communication unit 1002 is configured to send the current location information to a location server, and receive a landmark sent by the location server. Identification information and landmark location information; the visual sensor 1003 is configured to acquire an image of a current location; the visual processing unit 1001 is further configured to match the image and the identification information of the landmark, and when the matching is successful, according to the The landmark location information, or the current location information and the landmark location information, results in corrected current location information.
  • the positioning device may combine the current location information with the landmark location information provided by the positioning server to obtain the corrected current location information, and improve the positioning accuracy.
  • the visual processing unit 1001 may be implemented by using a processor.
  • the first communication unit 1002 may be implemented by using a radio frequency module, and the visual sensor 1003 may be a binocular camera or a monocular camera plus an IMU, or an RGBD camera.
  • the satellite positioning system receiving unit 1004 may employ a GPS receiving module, or a Beidou satellite receiving module or the like.
  • the satellite positioning system receiving unit 1004 is configured to acquire location information sent by the satellite positioning system; the visual processing unit 1001 is configured to use location information sent by the satellite positioning system as current location information; or The combination of the location information sent by the positioning system and the visual positioning information determines the current location information.
  • the visual processing unit 1001 is configured to determine a relative position of the current location and the landmark, and obtain corrected current location information according to the relative location and the landmark location information.
  • the visual processing unit 1001 is configured to determine a relative position of the current location and the landmark, and determine current estimated location information according to the relative location and the landmark location information, according to the current location information and The current location information is estimated, and the corrected current location information is obtained.
  • the visual processing unit 1001 is further configured to: after the matching is successful, correct the landmark location information to obtain corrected landmark location information; the first communication unit 1002 is further configured to be modified.
  • the landmark location information is sent to the location server.
  • the visual processing unit 1001 is configured to determine a relative position of the current location and the landmark, and obtain corrected landmark location information according to the relative location and the corrected current location information.
  • the positioning device sends the modified landmark location information to the location server, so that the location server combines the landmark location information reported by the multiple positioning devices to further improve the accuracy of the landmark.
  • the first communication unit 1002 is further configured to modify the landmark location information.
  • the current time information is sent to the location server.
  • the visual sensor 1003 is configured to acquire an image of a current location; the visual processing unit 1001 is configured to acquire identification information of a landmark according to an image of the current location, and determine the identifier according to current location information. Signpost location information of the road sign; the first communication unit 1002 is configured to send the identification information of the road sign and the landmark location information to the location server.
  • the satellite positioning system receiving unit 1004 is configured to acquire location information sent by the satellite positioning system; the visual processing unit 1001 is further configured to use the location information sent by the satellite positioning system as current location information; Or determining current location information according to the combination of the location information and the visual location information sent by the satellite positioning system.
  • the visual processing unit 1001 is configured to determine a relative position of the current location and the landmark, and determine the landmark location information according to the relative location and current location information.
  • the positioning device sends the identification information of the road sign and the location information of the road sign to the positioning server, so that the positioning server fuses the landmark position information reported by the plurality of positioning devices, thereby further improving the accuracy of the road sign.
  • the visual sensor 1003 is configured to acquire an image of a current location; the visual processing unit 1001 is configured to acquire identification information of a landmark according to an image of a current location; the first communication unit 1002, set And sending the identification information of the road sign to the positioning server; and receiving the road sign location information of the road sign sent by the positioning server; the visual processing unit 1001 is further configured to: according to the road sign location information, or the current location The information and the landmark location information are corrected for current location information.
  • the satellite positioning system receiving unit 1004 is configured to acquire location information sent by the satellite positioning system; the visual processing unit 1001 is further configured to use the location information sent by the satellite positioning system as current location information; Or determining current location information according to the combination of the location information and the visual location information sent by the satellite positioning system.
  • the visual processing unit 1001 is configured to determine a relative position of the current location and the landmark, and obtain corrected current location information according to the relative location and the landmark location information.
  • the visual processing unit 1001 is configured to determine a relative position of the current location and the landmark, and determine current estimated location information according to the relative location and the landmark location information, according to the current location information and The current location information is estimated, and the corrected current location information is obtained.
  • the location information of the landmark is obtained by the positioning server, and the corrected current location information is obtained, thereby improving the accuracy of positioning of the positioning device.
  • the visual sensor 1003 refers to a visually dominant image sensor, which may be a binocular camera, a depth camera, or a monocular camera with other sensors, such as an IMU.
  • the visual processing unit 1001 mainly completes the identification information of the road sign extracted from the image, locates the relative position of the road sign, and locates its own position according to the position information of the road sign.
  • Visual Simultaneous Localization And Mapping (vSLAM) algorithm can be used, mainly including front-end algorithm and back-end algorithm.
  • the front-end algorithm is mainly used to calculate the inter-frame motion of images, and obtain the relative motion relationship between images.
  • the back-end algorithm is mainly responsible for multi-sensor fusion and numerical optimization.
  • the front-end algorithm mainly finds some feature points in the adjacent two frames of images, and further calculates the position change of the camera according to the matching relationship of the feature points, also called ego-motion technology.
  • the matching relationship of the feature points in the front-end algorithm can be obtained by the extraction of feature points, the matching of feature points, and the elimination of outer points.
  • the feature point algorithm may be selected as a feature point extraction algorithm, and the direction invariance (ORB) is added on the basis of the Brief feature points, and the outer point culling algorithm adopts random sampling consistency (Random Sample Consensus) , RANSAC) algorithm.
  • the ego-motion technique is implemented using triangulation techniques and a Bundle Adjustment algorithm.
  • the embodiment of the present disclosure uses machine learning technology, and also extracts traffic signs, road signs, etc. as landmarks in the image, and simultaneously estimates the relative position of the road signs and simultaneously uses them in the algorithm of back-end multi-sensor fusion.
  • traffic signs are relatively fixed, and they are all located in relatively obvious positions.
  • SVM Small Vector Machine
  • the use of traffic signs as road signs not only ensures that the road signs do not affect the positioning accuracy on the target such as dynamics, but also ensures that the selected road signs can be observed by various mobile devices (such as vehicles).
  • the back-end algorithm mainly performs multi-sensor fusion, mainly by using the nonlinear optimization method to optimize the error between the observed value and the measured value.
  • the GPS calculated position information and the error before the position information of the positioning device, and the projection error corresponding to the position of the road sign in the image and the position information of the positioning device may be included.
  • the purpose of nonlinear optimization is to find the direction of the gradient so that the weighted sum of these errors is minimized, so that the position information of the positioning device and the position information of the landmark are obtained, as shown in FIG.
  • the positioning method of the embodiment of the present disclosure is applied to the positioning server, and includes: step 1201 and step 1202.
  • Step 1201 Receive current location information.
  • Step 1202 Search for a road sign library according to the current location information, and send the searched identification information and road sign location information of the road sign that matches the current location information to the positioning device.
  • the road sign information can be provided, and the positioning accuracy is improved.
  • the current location information sent by the positioning device may be directly or indirectly received, or the current location information sent by other terminals may be received.
  • the search range may be set according to the current location information (for example, the location range of the current location information is 200 meters), and the road sign is searched within the search range.
  • the method further includes: receiving the corrected landmark location information; and updating the landmark location information of the landmark in the landmark database according to the modified landmark location information.
  • the location server receives the modified landmark location information, and the location server combines the plurality of reported landmark information to further improve the accuracy of the landmark.
  • the method further includes: receiving current time information corresponding to the modified landmark location information, and storing the current time information in the landmark database.
  • the signposts for day and night changes will be different in their images.
  • the location device sends the signpost information to the location server
  • the location device can carry the time information, and the location server establishes different time corresponding flag information for each road sign to provide all-weather information. support.
  • the method further comprises: setting a life cycle of each road sign in the road sign library; deleting the road sign that is not updated in the life cycle and reaches the upper limit of the life cycle.
  • a positioning method according to another embodiment of the present disclosure is applied to a positioning server, including: step 1301 and step 1301.
  • step 1301 the identification information of the landmark and the landmark location information are received.
  • step 1301 the road sign is searched for in the road sign library according to the identification information, and if the road sign exists, the road sign location information stored in the road sign library is updated according to the received road sign location information; If the road sign does not exist, the identification information of the road sign and the landmark location information are stored in the road sign library.
  • the location server receives the landmark information and deposits it into the landmark database, and can also combine the plurality of reported landmark location information to further improve the accuracy of the landmark.
  • the method further comprises: setting a life cycle of each road sign in the road sign library; deleting the road sign that is not updated in the life cycle and reaches the upper limit of the life cycle.
  • a positioning method according to still another embodiment of the present disclosure is applied to a positioning server, including: step 1401 and step 1402.
  • step 1401 the identification information of the road sign is received.
  • step 1402 the road sign library is searched according to the identification information of the road sign, and the searched road sign position information of the road sign is transmitted.
  • the location information of the landmark can be obtained by the positioning server, thereby improving the accuracy of the positioning.
  • the method further comprises: setting a life cycle of each road sign in the road sign library; deleting the road sign that is not updated in the life cycle and reaches the upper limit of the life cycle.
  • the positioning server of the embodiment of the present disclosure includes: a road sign processing unit 1501 and a second communication unit 1502, wherein:
  • the second communication unit 1502 is configured to receive current location information.
  • the road sign processing unit 1501 is configured to search the road sign library according to the current location information.
  • the second communication unit 1502 is further configured to send the identifier information and the landmark location information of the landmark that is searched by the landmark processing unit and matched with the current location information.
  • the landmark information can be provided to the positioning device, and the positioning accuracy is improved.
  • the road sign processing unit 1501 can be implemented by using a processor, and the second communication unit 1502 can be implemented by using a radio frequency module.
  • the second communication unit 1502 is further configured to receive the modified landmark location information; the landmark processing unit 1501 is further configured to update the landmark in the landmark according to the modified landmark location information.
  • the location server receives the modified landmark location information, and the location server combines the plurality of reported landmark information to further improve the accuracy of the landmark.
  • the second communication unit 1502 is further configured to receive current time information corresponding to the modified landmark location information; the landmark processing unit 1501 is further configured to store the current time information into the location The road sign library.
  • the road sign processing unit 1501 is further configured to set a life cycle of each road sign in the road sign library; delete the road sign that is not updated in the life cycle and reaches the upper limit of the life cycle.
  • the second communication unit 1502 is configured to set the identification information of the road sign and the road sign location information; the road sign processing unit 1501 is configured to search the road sign library for the road sign according to the identification information, and if the road sign exists, according to the The received landmark location information updates the landmark location information stored in the landmark library; if the landmark does not exist, the identification information of the landmark and the landmark location information are stored in the landmark library.
  • the location server receives the landmark information and deposits it into the landmark database, and can also combine the plurality of reported landmark location information to further improve the accuracy of the landmark.
  • the road sign processing unit 1501 is further configured to set a life cycle of each road sign in the road sign library; delete the road sign that is not updated in the life cycle and reaches the upper limit of the life cycle.
  • the second communication unit 1502 is configured to receive identification information of a road sign.
  • the road sign processing unit 1501 is configured to search the road sign library according to the identification information of the road sign.
  • the second communication unit 1502 is further configured to send the landmark location information of the landmark that is searched by the landmark processing unit.
  • the location information of the landmark can be obtained by the positioning server, thereby improving the accuracy of the positioning.
  • the road sign library can store the preset road sign information, and can also store the road sign information reported by the positioning device, including the road sign identification information and the road sign position information, and can also include the location accuracy estimation of the road sign.
  • the location server can collect the road sign information reported by the plurality of positioning devices, and the road sign processing unit retrieves whether the same road sign exists in the road sign library, and when the judgment is the same road sign, the related information is merged once, and the accuracy of the road sign is optimized.
  • the road sign fusion algorithm can still use the nonlinear optimization technology to optimize the observations reported by multiple locating devices on the same road sign, so that the road location information with better precision can be obtained.
  • the positioning server may also respond to the landmark request of the positioning device, and the positioning server sends the landmark information near the location to the positioning device according to the location information sent by the positioning device.
  • the positioning device continuously sends its own location to the positioning server to request the location information of the landmark.
  • the positioning server does not have the landmark information of the location, and the positioning device can only locate according to its own information, and at the same time, the calculation is performed. Good road signs are reported to the location server.
  • the location server can query the landmark information near the location according to the location reported by the location device, and the location server sends the information to the location device for assisting the location.
  • the location server does not have any road sign information.
  • the location device transmits the calculated roadmap location to the location server based on the location of its own location, as shown in FIG. This situation corresponds to the second case described above. Since the road sign library in the location server can pre-store some road sign information, this situation does not necessarily occur.
  • the vehicle A1 is equipped with a positioning device, and when it travels in an area, it reports its current position information to the positioning server, but cannot obtain any road sign information from the positioning server.
  • the vehicle A1 calculates its own current position information P1 by means of visual positioning and GPS fusion, and its error is estimated to be X1E1, while the traffic sign X1 is obtained in the image, and its position X1P1 is estimated.
  • the positioning device sends the traffic sign X1 as a road sign to the positioning server, and simultaneously reports the position information X1P1 and the error estimate X1E1 to the positioning server, and the positioning server stores it.
  • the vehicle A2 of the vehicle loading and positioning device also operates in the area, calculates its own position as P2, also observes the traffic sign X1, and estimates its position estimate X1P2, and the error is estimated to be X1E2.
  • the vehicle A2 also transmits the traffic sign X1 and its position estimate X1P2, the error estimate X1E2 to the location server.
  • the location server receives the landmark information reported by the positioning device, searches the road sign library according to the road location information and the identification information, and finds the matching road sign, and then can merge the information reported by the multiple positioning devices, as described above, the traffic sign X1
  • the position is estimated to be X1P
  • the error is estimated to be X1E. It can be known that X1E ⁇ X1E1, X1E ⁇ X1E2. When X1E is less than a certain threshold, it is considered that the road sign X1 can be used.
  • the road sign relies solely on the GPS position information and the image localization estimation algorithm of the single positioning device.
  • the error is X1E1.
  • the positioning server fuses the reported information of other vehicles, the error becomes X1E, and the result is X1E ⁇ X1E1.
  • the vehicle A3 reports again that the error of X1 is X1E3 and the error X1E' after fusion again. X1E' ⁇ X1E can be obtained. It can be seen that as more vehicles update the X1, the error of the X1 road sign will continue to be optimized, which also makes the position of the vehicle using the road sign X1 to be continuously optimized.
  • the positioning device continuously sends its own location to the positioning server during the running process, and the positioning server sends the road sign information near the location to the positioning device, and the positioning device first matches the landmark information sent by the positioning server. If the matching is successful, the absolute road sign can be used.
  • the location information is used for auxiliary positioning, and the corrected landmark location information is sent to the location server again. As shown in Figure 17. This situation corresponds to the first case described above.
  • the positioning device When the vehicle A3 loading the positioning device moves to the vicinity of the road sign X1 position, the positioning device sends the current position P3 to the positioning server, and the positioning server searches the road sign library for the road sign near the position, and can obtain the road sign X1, then X1 and Its position information X1P, error estimate X1E is sent to the vehicle A3.
  • the positioning device of the vehicle A3 continuously extracts the traffic sign in the image to match the X1. If the matching is successful, the positioning device can locate the current position of the vehicle A3 through the position information of the X1, and combine the GPS and the visual positioning algorithm for integration.
  • the current vehicle position P3', the optimized P3' error estimate will be less than P3.
  • the vehicle A3 also reports the position estimate X1P3 and the error estimate X1E3 of the road sign X1 to the positioning server for further integration. From the above process, it can be seen that the position of the vehicle A3 is changed to P3' after the P3 is assisted by the road sign X1, and the accuracy is optimized.
  • the loop can be looped by detecting the landmark to correct the current error location information. If the vehicle A1 is GPS-assisted, the current position is calculated as P1, the positioning server transmits the road signs X1, X2, etc. near X1 to the vehicle A1, but the vehicle A1 cannot observe the road sign at the current position, and detects other road signs X3, X4, the positioning server receives X3, X4, retrieves X3 and X4 in the road sign library for loop detection, and repositions the position of the vehicle A1.
  • the embodiment of the present disclosure further provides a computer readable storage medium storing computer executable instructions configured to perform the positioning method as shown in FIGS. 3-6.
  • Embodiments of the present disclosure also provide a computer readable storage medium storing computer executable instructions arranged to perform a positioning method as illustrated in FIGS. 7-9.
  • Embodiments of the present disclosure also provide a computer readable storage medium storing computer executable instructions arranged to perform a positioning method as illustrated in FIGS. 12-14.
  • the foregoing storage medium may include, but is not limited to, a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.
  • ROM read-only memory
  • RAM random access memory
  • mobile hard disk a magnetic disk
  • optical disk a variety of media that can store program code.
  • modules or steps of the embodiments of the present disclosure may be implemented by a general-purpose computing device, which may be centralized on a single computing device or distributed over a network of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device such that they may be stored in the storage device by the computing device and, in some cases, may be different from the order herein.
  • the steps shown or described are performed either separately as an integrated circuit module, or a plurality of modules or steps thereof are fabricated as a single integrated circuit module.
  • embodiments of the present disclosure are not limited to any specific combination of hardware and software.

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Abstract

一种定位方法，包括：确定当前位置信息，将当前位置信息发送至定位服务器（701）；接收定位服务器发送的路标的标识信息和路标位置信息（702）；获取当前位置的图像，匹配图像与路标的标识信息，匹配成功时，根据路标位置信息，或当前位置信息和路标位置信息得到修正的当前位置信息（703）。

Description

定位方法以及装置、服务器及系统
本申请要求在2017年11月02日提交中国专利局、申请号为201711065138.X的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本公开涉及定位技术，例如涉及一种定位方法以及装置、服务器及系统。
背景技术
目前室外定位系统主要依赖全球定位系统(Global Positioning System，GPS)作为主要定位手段，通过接收GPS卫星信号，根据多个卫星的GPS信号，估算出当前的位置。
但GPS的定位精度只能达到10米的范围，限制了室外定位系统的应用范围，同时也越来越难以满足未来对室外定位精度的需求(比如无人驾驶汽车，无人机，以及自动送货车等)，同时GPS也存在雨天定位精度下降，高楼遮挡以及地道无信号导致无法正常工作等缺点。
发明内容
本公开提供了一种定位方法以及装置、服务器及系统，以提升定位精度。
本公开实施例提供一种定位方法，包括：确定当前位置信息，将所述当前位置信息发送至定位服务器；接收定位服务器发送的路标的标识信息和路标位置信息；获取当前位置的图像，匹配所述图像与所述路标的标识信息，匹配成功时，根据所述路标位置信息，或所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
本公开实施例还提供一种定位方法，包括：接收当前位置信息；根据所述当前位置信息搜索路标库，发送搜索到的与所述当前位置信息相匹配的路标的标识信息和路标位置信息。
本公开实施例还提供一种定位方法，包括：根据当前位置的图像获取路标的标识信息，根据当前位置信息确定所述路标的路标位置信息；将所述路标的标识信息和所述路标的路标位置信息发送至定位服务器。
本公开实施例还提供一种定位方法，包括：根据当前位置的图像获取路标 的标识信息，将所述路标的标识信息发送至定位服务器；接收定位服务器发送的所述路标的路标位置信息；根据所述路标位置信息，或所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
本公开实施例还提供一种定位方法，包括：接收路标的标识信息；根据所述路标的标识信息搜索路标库，发送搜索到的所述路标的路标位置信息。
本公开实施例还提供一种定位装置，包括：视觉处理单元、第一通信单元和视觉传感器，其中：
所述视觉处理单元，设置为确定当前位置信息；
所述第一通信单元，设置为将所述当前位置信息发送至定位服务器，以及，接收定位服务器发送的路标的标识信息和路标位置信息；
所述视觉传感器，设置为获取当前位置的图像；
所述视觉处理单元，还设置为匹配所述图像与所述路标的标识信息，匹配成功时，根据所述路标位置信息，或所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
本公开实施例还提供一种定位服务器，包括：路标处理单元和第二通信单元，其中：
所述第二通信单元，设置为接收当前位置信息；
所述路标处理单元，设置为根据所述当前位置信息搜索路标库；
所述第二通信单元，还设置为发送路标处理单元搜索到的与所述当前位置信息相匹配的路标的标识信息和路标位置信息。
本公开实施例还提供一种定位装置，包括：视觉处理单元、第一通信单元和视觉传感器，其中：
所述视觉传感器，设置为获取当前位置的图像；
所述视觉处理单元，设置为根据所述当前位置的图像获取路标的标识信息，根据当前位置信息确定所述路标的路标位置信息；
所述第一通信单元，设置为将所述路标的标识信息和路标位置信息发送至定位服务器。
本公开实施例还提供一种定位装置，包括：视觉处理单元、通信单元和视觉传感器，其中：
所述视觉传感器，设置为获取当前位置的图像；
所述视觉处理单元，设置为根据当前位置的图像获取路标的标识信息；
所述通信单元，设置为将所述路标的标识信息发送至定位服务器；以及，接收定位服务器发送的所述路标的路标位置信息；
所述视觉处理单元，还设置为根据所述路标位置信息，或所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
本公开实施例还提供一种定位服务器，包括：路标处理单元和通信单元，其中：
所述通信单元，设置为接收路标的标识信息；
所述路标处理单元，设置为根据所述路标的标识信息搜索路标库；
所述通信单元，还设置为发送所述路标处理单元搜索到的所述路标的路标位置信息。
本公开实施例还提供一种定位系统，包括如上所述的定位装置，以及如上所述的定位服务器。
本公开实施例还提供一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为执行如上所述的定位方法。
本公开实施例包括：确定当前位置信息，将所述当前位置信息发送至定位服务器；接收定位服务器发送的路标的标识信息和路标位置信息；获取当前位置的图像，匹配所述图像与所述路标的标识信息，匹配成功时，根据所述路标位置信息，或所述当前位置信息和所述路标位置信息得到修正的当前位置信息。在本公开实施例中，定位装置可以根据当前位置信息结合定位服务器提供的路标信息，提升定位装置的定位精度。
在一实施例中，定位装置可以将修正的路标位置信息发送给定位服务器，以使定位服务器将多个定位装置上报的路标位置信息进行融合，提升路标库中路标的精度。
在一实施例中，定位装置可以主动上报路标位置信息，以使定位服务器将多个定位装置上报的路标位置信息进行融合，丰富路标库，提升路标库中路标的精度。
在一实施例中，在定位装置的GPS不可用或者出现错误的情况下，可以通过定位服务器获得路标位置信息，提升了定位装置定位的准确性。
附图概述
附图用来提供对本公开技术方案的进一步理解，并且构成说明书的一部分， 与本申请的实施例一起用于解释本公开的技术方案，并不构成对本公开技术方案的限制。
图1为本公开实施例的定位系统组成示意图；
图2为本公开实施例的定位系统的定位实现示意图；
图3为本公开实施例的第一种情况的定位方法示意图；
图4为本公开另一实施例的第一种情况的定位方法示意图；
图5为本公开实施例的第二种情况的定位方法示意图；
图6为本公开实施例的第三种情况的定位方法示意图；
图7为本公开一实施例的应用于定位装置的定位方法示意图；
图8为本公开另一实施例的应用于定位装置的定位方法示意图；
图9为本公开再一实施例的应用于定位装置的定位方法示意图；
图10为本公开实施例的定位装置组成示意图；
图11为本公开实施例的定位装置更新位置信息的示意图；
图12为本公开一实施例的应用于定位服务器的定位方法示意图；
图13为本公开另一实施例的应用于定位服务器的定位方法示意图；
图14为本公开再一实施例的应用于定位服务器的定位方法示意图；
图15为本公开实施例的定位服务器的组成示意图；
图16为本公开实施例的应用示例一定位实现示意图；
图17为本公开实施例的应用示例二定位实现示意图。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚明白，下文中将结合附图对本公开的实施例进行详细说明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互任意组合。
在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行。并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
如图1所示，本公开实施例的定位系统包括定位装置11和定位服务器12。定位装置11也可称为前端定位装置，可以部署在需要定位服务的移动设备上，例如可以是自动驾驶汽车或者无人机，定位服务器12可以作为地图服务器，设置在云端服务器，定位装置11和定位服务器12通信连接。
如图2所示，定位装置11可以不断的将计算出的当前位置上报给定位服务器12，定位服务器12在路标库中进行位置检索，如果有该定位装置11附近的路标，就会将路标信息发送给定位装置11，在系统运行初期，路标库可能没有该位置的已知路标，这种情况下，定位装置11可以一方面使用原有的卫星定位系统(例如GPS系统、北斗等)进行定位，同时从图像中提取路标，在计算路标位置的同时，融合第三方定位系统提供的位置信息，优化定位精度，同时将路标位置信息上报给定位服务器12。如果定位服务器12接收定位装置11的位置上报后，检索到相应的路标，则将路标位置信息发送给该定位装置11，定位装置11即可在图像中匹配该路标，并用于定位，同时融合第三方定位系统提供的位置信息，优化定位精度。
需要说明的是，上述卫星定位系统也可以是其它可以提供位置信息的第三方定位系统，本公开不做限定。
其中，所述路标信息可以包括路标的标识信息和路标位置信息，所述路标位置信息包括路标的位置，还可以包括误差估计值。
本公开实施例在卫星定位系统定位的基础上，根据定位服务器发送的路标位置信息，辅助图像定位技术，通过视觉定位技术与卫星定位系统定位技术相融合后，从而提升定位精度，同时重新修订路标的位置发送给定位服务器，定位服务器将多个定位装置上报的路标位置信息进行融合进一步提升路标的精度，通过上述过程不断的反复，可以不断的提升定位精度。
在本公开实施例中，主要存在三种情况：
第一种情况：
定位装置根据当前位置信息从定位服务器获得路标位置信息，设置为修正当前位置信息，参照图3，包括如下步骤301、步骤302和步骤303。
在步骤301中，定位装置确定当前位置信息，将所述当前位置信息发送至定位服务器。
在步骤302中，定位服务器接收定位装置发送的当前位置信息，根据所述当前位置信息搜索路标库，将搜索到的与所述当前位置信息相匹配的路标的标识信息和路标位置信息发送至所述定位装置。
在步骤303中，定位装置获取当前位置的图像，匹配所述图像与所述路标的标识信息，匹配成功时，根据所述路标位置信息，或所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
在本实施例中，定位装置可以根据当前位置信息结合定位服务器提供的路标位置信息，提升定位精度。
其中，当前位置信息为所述定位装置自身的位置信息，在一实施方式中，所述确定当前位置信息包括：获取卫星定位系统发送的位置信息，作为当前位置信息；或者获取卫星定位系统发送的位置信息，结合视觉定位信息和卫星定位系统发送的位置信息，确定当前位置信息。
其中，所述卫星定位系统可以是GPS系统、北斗等系统，也可以是其它可以提供位置信息的第三方定位系统。
所述视觉定位信息是定位装置根据视觉传感器获得当前位置的图像，根据所述图像进行计算获得视觉定位信息。
在一实施方式中，所述根据所述路标位置信息得到修正的当前位置信息包括：确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息得到修正的当前位置信息。
在一实施方式中，所述根据所述当前位置信息和所述路标位置信息得到修正的当前位置信息包括：确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息确定当前估计位置信息，根据所述当前位置信息和当前估计位置信息，得到修正的当前位置信息。
其中，可采用非线性优化的方式，根据所述当前位置信息和当前估计位置信息，得到修正的当前位置信息。
在一实施方式中，所述确定当前位置与所述路标的相对位置包括：获取所述当前位置的图像的深度信息和所述图像的位置变化关系，根据所述深度信息和位置变化关系，得到当前位置与所述路标的相对位置。
其中，所述图像的深度信息可以通过定位装置中的视觉传感器和视觉处理单元获得，其中，视觉传感器可以采用双目摄像头，通过已知双目摄像头的基线(baseline)，通过视觉处理单元进行三角测量可以获取路标点的深度信息，也可以是视觉传感器采用单目摄像头加惯性测量单元(Inertial measurement unit，IMU)的方案，通过IMU积分技术恢复单目摄像头的尺度信息，另外也可以使用红绿蓝深度(Red-Green-Blue-Depth，RGBD)摄像头，直接从深度传感器获得深度信息。
本实施例中，通过视觉定位技术与第三方定位技术相融合，从而提升了定位精度。
本实施例中，路标的标识信息可以包含路标的图片，例如交通标志图片、路边商铺、以及建筑物图片等。此时，当前位置的图像匹配所述路标的标识信息是指将当前位置的图像和路标的图片进行对比。若当前位置的图像和路标的图片一致，则匹配成功；若当前位置的图像和路标的图片不一致，则匹配失败。路标的标识信息可以包含路标的文字信息，例如街道名称和路边商铺的名称等，此时，当前位置的图像匹配所述路标的标识信息是指将当前位置的图像和路标的文字信息进行对比，若当前位置的图像包含所述文字信息，则匹配成功，若不包含所述文字信息则匹配失败。
在一实施方式中，在匹配成功之后，定位装置可以将修正的路标位置信息上报给定位服务器，如图4所示，步骤303之后，包括如下步骤404和步骤405。
在步骤404中，定位装置对所述路标位置信息进行修正，得到修正的路标位置信息，将修正的路标位置信息发送至定位服务器。
在步骤405中，定位服务器根据所述修正的路标位置信息更新所述路标库中所述路标的路标位置信息。
在本实施例中，定位装置将修正的路标位置信息发送给定位服务器，以使定位服务器将多个定位装置上报的路标信息进行融合，进一步提升路标的精度。
在一实施方式中，所述对所述路标位置信息进行修正，得到修正的路标位置信息包括：确定当前位置与所述路标的相对位置，根据所述相对位置和所述修正的当前位置信息得到修正的路标位置信息。
在一实施方式中，定位服务器采用非线性优化的方式，根据所述修正的路标位置信息更新所述路标库中所述路标的路标位置信息。
第二种情况：
定位装置主动上报路标位置信息，用于定位服务器存入路标库；这种情况通常是在初始状态下，定位服务器中的路标库中没有相关路标信息，由定位装置将路标信息上传至路标库。
参照图5，包括如下步骤501和步骤502。
在步骤501中，定位装置根据当前位置的图像获取路标的标识信息，根据当前位置信息确定所述路标的路标位置信息，将所述路标的标识信息和路标位置信息发送至定位服务器。
在步骤502中，所述定位服务器接收定位装置发送的路标的标识信息和路 标位置信息，根据所述标识信息在路标库中查找所述路标，若所述路标存在，则根据接收到的所述路标位置信息更新所述路标库中存储的路标位置信息；若所述路标不存在，则将所述路标的标识信息和路标位置信息存入所述路标库。
本实施例中，定位装置将路标信息发送给定位服务器，以使定位服务器将多个定位装置上报的路标信息进行融合，进一步提升路标的精度。
在一实施方式中，所述定位装置根据当前位置信息确定所述路标的路标位置信息之前，还包括：所述定位装置获取卫星定位系统发送的位置信息，作为当前位置信息；或者，所述定位装置获取卫星定位系统发送的位置信息，结合视觉定位信息和卫星定位系统发送的位置信息，确定当前位置信息。
在一实施方式中，所述根据当前位置信息确定所述路标的路标位置信息包括：确定当前位置与所述路标的相对位置，根据所述相对位置和当前位置信息，确定所述路标位置信息。
在一实施方式中，所述确定当前位置与所述路标的相对位置包括：获取所述当前位置的图像的深度信息和所述图像的位置变化关系，根据所述深度信息和位置变化关系，得到当前位置与所述路标的相对位置。
在一实施方式中，采用非线性优化的方式，根据接收到的所述路标位置信息更新所述路标库中存储的路标位置信息。
第三种情况：
定位装置根据路标的标识信息从定位服务器获得路标位置信息，用于修正当前位置信息，这种情况通常是卫星定位系统不可用或者出现错误的条件下，可以通过检测路标进行回环，用于纠正当前的错误位置信息。
参照图6，包括如下步骤601、步骤602以及步骤603。
在步骤601中，定位装置根据当前位置的图像获取路标的标识信息，将所述路标的标识信息发送至定位服务器。
在步骤602中，定位服务器根据所述路标的标识信息搜索路标库，将搜索到的所述路标的路标位置信息发送至所述定位装置。
在步骤603中，所述定位装置根据所述路标位置信息，或所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
本实施例中，在卫星定位系统不可用或者出现错误的情况下，可以根据路标的标识信息，通过定位服务器获得位置信息，提升了定位装置定位的准确性。
路标对于昼夜的变化，在其图像上会不同，定位装置在其发送给定位服务器路标信息的时候，可以带上时间信息，定位服务器为每个路标建立不同的时间对应的标示信息。
在一实施方式中，定位服务器可以给每个路标设定一定的生命周期，当某一个路标长期不被更新，或者多次没有被观测到后，达到生命周期上限后，该路标将被删除。这种情况可以解决由于道路施工或搬迁导致路边更换或被移动位置的情况。
在一实施方式中，标识信息包括交通标志的信息，定位装置可以采用交通标志的图片进行训练，以使从所述图像中识别所述交通标志。
本公开实施例的定位系统，在现有卫星定位系统的基础上，结合机器视觉、大数据分析、深度学习等技术手段，组成一个不断学习、精度可持续优化的定位系统，提升了传统定位方法的精确度。
下面分别针对定位装置和定位服务器进行说明。
如图7所示，本公开实施例的定位方法，应用于定位装置，包括：步骤701、步骤702以及步骤703。
在步骤701中，确定当前位置信息，将所述当前位置信息发送至定位服务器。
在步骤702中，接收定位服务器发送的路标的标识信息和路标位置信息。
在步骤703中，获取当前位置的图像，匹配所述图像与所述路标的标识信息，匹配成功时，根据所述路标位置信息，或所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
在本实施例中，定位装置可以根据当前位置信息结合定位服务器提供的路标位置信息，得到修正的当前位置信息，提升定位精度。
在一实施方式中，所述确定当前位置信息包括：获取卫星定位系统发送的位置信息，作为当前位置信息；或者，获取卫星定位系统发送的位置信息，结合视觉定位信息和卫星定位系统发送的位置信息，确定当前位置信息。
在一实施方式中，所述根据所述路标位置信息得到修正的当前位置信息包括：确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息得到修正的当前位置信息。
在一实施方式中，所述根据所述当前位置信息和所述路标位置信息得到修 正的当前位置信息包括：确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息确定当前估计位置信息，根据所述当前位置信息和当前估计位置信息，得到修正的当前位置信息。
本实施例中，通过视觉定位技术与第三方定位技术相融合，从而提升了定位精度。
在一实施方式中，所述确定当前位置与所述路标的相对位置包括：获取所述当前位置的图像的深度信息和所述图像的位置变化关系，根据所述深度信息和位置变化关系，得到当前位置与所述路标的相对位置。
在一实施方式中，所述获取当前位置的图像，匹配所述路标的标识信息，匹配成功之后，所述方法还包括：对所述路标位置信息进行修正，得到修正的路标位置信息；将修正的路标位置信息发送至定位服务器。
在本实施例中，定位装置将修正的路标位置信息发送给定位服务器，以使定位服务器将多个定位装置上报的路标位置信息进行融合，进一步提升路标的精度。
在一实施方式中，所述对所述路标位置信息进行修正，得到修正的路标位置信息包括：确定当前位置与所述路标的相对位置，根据所述相对位置和所述修正的当前位置信息得到修正的路标位置信息。
在一实施方式中，所述将修正的路标位置信息发送至定位服务器时，还包括：将当前时间信息发送至所述定位服务器。
如图8所示，本公开另一实施例的定位方法，应用于定位装置，包括：步骤801和步骤802。
在步骤801中，根据当前位置的图像获取路标的标识信息，根据当前位置信息确定所述路标的路标位置信息。
在步骤802中，将所述路标的标识信息和路标位置信息发送至定位服务器。
本实施例中，定位装置将路标的标识信息和路标位置信息发送给定位服务器，以使定位服务器将多个定位装置上报的路标位置信息进行融合，进一步提升路标的精度。
在一实施方式中，所述根据当前位置信息确定所述路标的路标位置信息之前，还包括：获取卫星定位系统发送的位置信息，作为当前位置信息；或者，获取卫星定位系统发送的位置信息，结合视觉定位信息和卫星定位系统发送的 位置信息，确定当前位置信息。
在一实施方式中，所述根据当前位置信息确定所述路标的路标位置信息包括：确定当前位置与所述路标的相对位置，根据所述相对位置和当前位置信息，确定所述路标位置信息。
如图9所示，本公开再一实施例的定位方法，应用于定位装置，包括：步骤901、步骤902以及步骤903。
在步骤901中，根据当前位置的图像获取路标的标识信息，将所述路标的标识信息发送至定位服务器。
在步骤902中，接收定位服务器发送的所述路标的路标位置信息。
在步骤903中，根据所述路标位置信息，或所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
本实施例中，可以根据路标的标识信息，通过定位服务器获得路标位置信息，得到修正的当前位置信息，提升了定位装置定位的准确性。
在一实施方式中，所述根据所述当前位置信息和所述路标位置信息得到修正的当前位置信息之前，所述方法还包括：获取卫星定位系统发送的位置信息，作为当前位置信息；或者获取卫星定位系统发送的位置信息，结合视觉定位信息和卫星定位系统发送的位置信息，确定当前位置信息。
在一实施方式中，所述根据所述路标位置信息得到修正的当前位置信息包括：确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息得到修正的当前位置信息。
在一实施方式中，所述根据所述当前位置信息和所述路标位置信息得到修正的当前位置信息包括：确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息确定当前估计位置信息，根据所述当前位置信息和当前估计位置信息，得到修正的当前位置信息。
如图10所示，本公开实施例的定位装置，包括：视觉处理单元1001、第一通信单元1002和视觉传感器1003，还可包括卫星定位系统接收单元1004。
在一实施例中，所述视觉处理单元1001，设置为确定当前位置信息；所述第一通信单元1002，设置为将所述当前位置信息发送至定位服务器，以及，接收定位服务器发送的路标的标识信息和路标位置信息；所述视觉传感器1003， 设置为获取当前位置的图像；所述视觉处理单元1001，还设置为匹配所述图像与所述路标的标识信息，匹配成功时，根据所述路标位置信息，或所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
在本实施例中，定位装置可以根据当前位置信息结合定位服务器提供的路标位置信息，得到修正的当前位置信息，提升定位精度。
在实际应用中，所述视觉处理单元1001可以采用处理器实现，所述第一通信单元1002可以采用射频模块实现，视觉传感器1003可以采用双目摄像头或者单目摄像头加IMU，或者RGBD摄像头等。所述卫星定位系统接收单元1004可以采用GPS接收模块，或者北斗卫星接收模块等。
在一实施方式中，所述卫星定位系统接收单元1004设置为获取卫星定位系统发送的位置信息；所述视觉处理单元1001，设置为将卫星定位系统发送的位置信息作为当前位置信息；或者将卫星定位系统发送的位置信息和视觉定位信息的结合，确定当前位置信息。
在一实施方式中，所述视觉处理单元1001，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息得到修正的当前位置信息。
在一实施方式中，所述视觉处理单元1001，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息确定当前估计位置信息，根据所述当前位置信息和当前估计位置信息，得到修正的当前位置信息。
在一实施方式中，所述视觉处理单元1001，还设置为匹配成功之后，对所述路标位置信息进行修正，得到修正的路标位置信息；所述第一通信单元1002，还设置为将修正的路标位置信息发送至定位服务器。
在一实施方式中，所述视觉处理单元1001，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和所述修正的当前位置信息得到修正的路标位置信息。
在本实施例中，定位装置将修正的路标位置信息发送给定位服务器，以使定位服务器将多个定位装置上报的路标位置信息进行融合，进一步提升路标的精度。
在一实施方式中，所述第一通信单元1002，还设置为将修正的路标位置信息。发送至定位服务器时，将当前时间信息发送至所述定位服务器。
在另一实施例中，所述视觉传感器1003，设置为获取当前位置的图像；所述视觉处理单元1001，设置为根据所述当前位置的图像获取路标的标识信息，根据当前位置信息确定所述路标的路标位置信息；所述第一通信单元1002，设置为将所述路标的标识信息和路标位置信息发送至定位服务器。
在一实施方式中，所述卫星定位系统接收单元1004设置为获取卫星定位系统发送的位置信息；所述视觉处理单元1001，还设置为将所述卫星定位系统发送的位置信息作为当前位置信息；或者根据所述卫星定位系统发送的位置信息和视觉定位信息的结合，确定当前位置信息。
在一实施方式中，所述视觉处理单元1001，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和当前位置信息，确定所述路标位置信息。
本实施例中，定位装置将路标的标识信息和路标位置信息发送给定位服务器，以使定位服务器将多个定位装置上报的路标位置信息进行融合，进一步提升路标的精度。
在再一实施例中，所述视觉传感器1003，设置为获取当前位置的图像；所述视觉处理单元1001，设置为根据当前位置的图像获取路标的标识信息；所述第一通信单元1002，设置为将所述路标的标识信息发送至定位服务器；以及，接收定位服务器发送的所述路标的路标位置信息；所述视觉处理单元1001，还设置为根据所述路标位置信息，或所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
在一实施方式中，所述卫星定位系统接收单元1004设置为获取卫星定位系统发送的位置信息；所述视觉处理单元1001，还设置为将所述卫星定位系统发送的位置信息作为当前位置信息；或者根据所述卫星定位系统发送的位置信息和视觉定位信息的结合，确定当前位置信息。
在一实施方式中，所述视觉处理单元1001，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息得到修正的当前位置信息。
在一实施方式中，所述视觉处理单元1001，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息确定当前估计位置信息，根据所述当前位置信息和当前估计位置信息，得到修正的当前位置信息。
本实施例中，可以根据路标的标识信息，通过定位服务器获得路标位置信 息，得到修正的当前位置信息，提升了定位装置定位的准确性。
上述实施例中，视觉传感器1003指的是以视觉为主的图像传感器，可以是双目摄像头，深度摄像头，也可以是单目摄像头配合其他传感器，比如IMU等。
视觉处理单元1001主要完成从图像中提取路标的标识信息，定位路标的相对位置，和根据路标的位置信息定位自己的位置。通过图像不断的定位和构建地图，可以采用基于视觉的同时定位与构图(Visual Simultaneous Localization And Mapping，vSLAM)算法，主要包含前端算法和后端算法。前端算法主要用于计算图像的帧间运动，获得图像间的相对运动关系，后端算法主要负责多传感器的融合和数值优化。其中前端算法主要是在相邻的两帧图像中找到一些特征点，根据特征点的匹配关系进而推算出摄像机的位置变化，也叫ego-motion技术。在前端算法中得到特征点的匹配关系可以通过特征点的提取，特征点的匹配，外点剔除等算法来获得。在一实施例中，可以选取特征点算法为一种特征点提取算法，在Brief特征点的基础上增加了方向不变性(ORiented Brief，ORB)，外点剔除算法采用随机抽样一致(Random Sample Consensus，RANSAC)算法。在一实施例中，ego-motion技术，采用三角测量技术和Bundle Adjustment(光束法平差)算法来完成。
本公开实施例在此基础上通过机器学习技术，同时还在图像中提取交通标志牌、路牌等作为路标，同时估算路标的相对位置并同时将其用于后端多传感器融合的算法中。在一个国家范围内，交通标志相对比较固定，而且都设置在相对比较明显的位置，可以通过预先将交通标志的图片进行训练，可以是传统的SVM(Support Vector Machine，支持向量机)技术，也可以是深度学习技术。使用交通标志作为路标这样既保证了路标不会选取到动态等目标上影响定位精度，同时也保证了选取的路标能够被各个移动设备(如车辆)都能观测到。
后端算法主要进行多传感器融合，主要是利用非线性优化的方法对观测值与测量值之间的误差进行优化。在本公开实施例中，可包含GPS计算的位置信息和定位装置的位置信息之前的误差，以及路标位置与其在图像中的位置以及定位装置的位置信息所对应的投影误差。非线性优化的目的就是寻找梯度方向，使得这些误差的加权和最小，从而得到更优的定位装置的位置信息和路标的位置信息，如图11所示。
如图12所示，本公开实施例的定位方法，应用于定位服务器，包括：步骤1201和步骤1202。
步骤1201，接收当前位置信息。
步骤1202，根据所述当前位置信息搜索路标库，发送搜索到的与所述当前位置信息相匹配的路标的标识信息和路标位置信息发送至所述定位装置。
在本实施例中，通过搜索路标库，可以提供路标信息，提升了定位精度。
其中，可以直接或间接接收定位装置发送的当前位置信息，也可以接收其它终端发送的当前位置信息。
根据所述当前位置信息搜索路标库，即搜索当前位置附近的路标，可以根据所述当前位置信息设置搜索范围(例如以所述当前位置信息所在位置范围200米)，在搜索范围内搜索路标。
在一实施方式中，所述方法还包括：接收修正的路标位置信息；根据所述修正的路标位置信息更新所述路标库中所述路标的路标位置信息。
在本实施例中，定位服务器接收修正的路标位置信息，定位服务器将多个上报的路标信息进行融合，可以进一步提升路标的精度。
在一实施方式中，所述方法还包括：接收修正的路标位置信息对应的当前时间信息，将所述当前时间信息存入所述路标库。
路标对于昼夜的变化，在其图像上会不同，定位装置在其发送给定位服务器路标信息的时候，可以带上时间信息，定位服务器为每个路标建立不同的时间对应的标示信息，以提供全天候的支持。
在一实施方式中，所述方法还包括：设置路标库中的每个路标的生命周期；删除在生命周期中未更新且到达生命周期上限的路标。
本实施例中，通过设置路标的生命周期，可以解决由于道路施工或搬迁导致路边更换或被移动位置的情况。
如图13所示，本公开另一实施例的定位方法，应用于定位服务器，包括：步骤1301和步骤1301。
在步骤1301中，接收路标的标识信息和路标位置信息。
在步骤1301中，根据所述标识信息在路标库中查找所述路标，若所述路标存在，则根据接收到的所述路标位置信息更新所述路标库中存储的路标位置信息；若所述路标不存在，则将所述路标的标识信息和路标位置信息存入所述路 标库。
本实施例中，定位服务器接收路标信息，存入路标库，还可以将多个上报的路标位置信息进行融合，进一步提升路标的精度。
在一实施方式中，所述方法还包括：设置路标库中的每个路标的生命周期；删除在生命周期中未更新且到达生命周期上限的路标。
本实施例中，通过设置路标的生命周期，可以解决由于道路施工或搬迁导致路边更换或被移动位置的情况。
如图14所示，本公开再一实施例的定位方法，应用于定位服务器，包括：步骤1401和步骤1402。
在步骤1401中，接收路标的标识信息。
在步骤1402中，根据所述路标的标识信息搜索路标库，发送搜索到的所述路标的路标位置信息。
本实施例中，在GPS不可用或者出现错误的情况下，可以通过定位服务器获得路标位置信息，提升了定位的准确性。
在一实施方式中，所述方法还包括：设置路标库中的每个路标的生命周期；删除在生命周期中未更新且到达生命周期上限的路标。
本实施例中，通过设置路标的生命周期，可以解决由于道路施工或搬迁导致路边更换或被移动位置的情况。
如图15所示，本公开实施例的定位服务器，包括：路标处理单元1501、和第二通信单元1502，其中：
在一实施例中，所述第二通信单元1502，设置为接收当前位置信息。
所述路标处理单元1501，设置为根据所述当前位置信息搜索路标库。
所述第二通信单元1502，还设置为发送路标处理单元搜索到的与所述当前位置信息相匹配的路标的标识信息和路标位置信息。
在本实施例中，通过搜索路标库，可以向定位装置提供路标信息，提升了定位精度。
其中，所述路标处理单元1501可以采用处理器实现，第二通信单元1502可以采用射频模块实现。
在一实施方式中，所述第二通信单元1502，还设置为接收修正的路标位置 信息；所述路标处理单元1501，还设置为根据所述修正的路标位置信息更新所述路标库中所述路标的路标位置信息。
在本实施例中，定位服务器接收修正的路标位置信息，定位服务器将多个上报的路标信息进行融合，可以进一步提升路标的精度。
在一实施方式中，所述第二通信单元1502，还设置为接收所述修正的路标位置信息对应的当前时间信息；所述路标处理单元1501，还设置为将所述当前时间信息存入所述路标库。
在一实施方式中，所述路标处理单元1501，还设置为设置路标库中的每个路标的生命周期；删除在生命周期中未更新且到达生命周期上限的路标。
本实施例中，通过设置路标的生命周期，可以解决由于道路施工或搬迁导致路边更换或被移动位置的情况。
在另一实施例中，
所述第二通信单元1502，设置为路标的标识信息和路标位置信息；所述路标处理单元1501，设置为根据所述标识信息在路标库中查找所述路标，若所述路标存在，则根据接收到的所述路标位置信息更新所述路标库中存储的路标位置信息；若所述路标不存在，则将所述路标的标识信息和路标位置信息存入所述路标库。
本实施例中，定位服务器接收路标信息，存入路标库，还可以将多个上报的路标位置信息进行融合，进一步提升路标的精度。
在一实施方式中，所述路标处理单元1501，还设置为设置路标库中的每个路标的生命周期；删除在生命周期中未更新且到达生命周期上限的路标。
本实施例中，通过设置路标的生命周期，可以解决由于道路施工或搬迁导致路边更换或被移动位置的情况。
在再一实施例中，
所述第二通信单元1502，设置为接收路标的标识信息。
所述路标处理单元1501，设置为根据所述路标的标识信息搜索路标库。
所述第二通信单元1502，还设置为发送所述路标处理单元搜索到的所述路标的路标位置信息。
本实施例中，在GPS不可用或者出现错误的情况下，可以通过定位服务器 获得路标位置信息，提升了定位的准确性。
路标库可以存储预先设置的路标信息，还可以存储由定位装置上报的路标信息，包括路标的标识信息和路标位置信息，还可以包括路标的位置精度估计等。定位服务器可以收集多个定位装置上报的路标信息，路标处理单元检索路标库是否存在同一路标，当判断是同一路标时就把相关信息进行一次融合，同时优化路标的精度。路标融合的算法依然可以采用非线性优化技术，将同一路标多个定位装置上报的观测进行优化，可以获得精度更优的路标位置信息。同时定位服务器还可以响应定位装置的路标请求，定位服务器根据定位装置发送的位置信息将该位置附近的路标信息发送给定位装置。
下面以几个应用示例进行说明：
定位装置在运行过程中不断的将自身的位置发送给定位服务器，请求路标位置信息，在系统运行初期，定位服务器没有该位置的路标信息，定位装置只能根据自身信息进行定位，同时要把计算好的路标上报给定位服务器。在系统运行一段时期后，定位服务器可以根据定位装置上报的位置查询到该位置附近的路标信息，定位服务器会将该信息发送给定位装置用于辅助定位。
应用示例一
在系统运行初期，定位服务器还没有任何路标信息，在这种情况下，定位装置在定位自身位置的基础上，同时将计算的路标位置发送给定位服务器，如图16所示。这种情况对应前面描述的第二种情况。由于定位服务器中的路标库可以预存一些路标信息，所以这种情况不是一定会出现。
假设车辆A1装有定位装置，其行进在某区域的时候将自身的当前位置信息上报给定位服务器，但无法从定位服务器获得任何路标信息。车辆A1通过视觉定位和GPS进行融合的方式计算自身的当前位置信息P1，其误差估计为X1E1，同时在图像中获得交通标志X1，并估算其位置X1P1。定位装置将交通标志X1作为路标发送给定位服务器，同时将其位置信息X1P1，误差估计X1E1也一同上报给定位服务器，定位服务器将其进行存储。
在另外一个时刻，车辆装载定位装置的车辆A2也运行在该区域，计算自身的位置为P2，也观测到了交通标志X1，并估算其位置估计X1P2，误差估计为X1E2。车辆A2也将交通标志X1及其位置估计X1P2，误差估计X1E2发送给定位服务器。
定位服务器接收到定位装置上报的路标信息，根据路标位置信息和标识信息在路标库中进行查找，发现匹配的路标后后可以将多个定位装置上报的信息进行融合，如前所述交通标志X1，其有两条记录，其中一条为车辆A1上报的位置估计X1P1和误差估计X1E1，另外一条为车辆A2上报的位置估计X1P2和误差估计X1E2，通过非线性优化对齐进行优化，优化后交通标志X1的位置估计为X1P，误差估计为X1E，可以得知X1E＜X1E1，X1E＜X1E2。当X1E小于某个门限下认为路标X1可以用。
路标在初始建立的时候，单纯依靠GPS的位置信息和单一定位装置的图像定位估计算法，其误差为X1E1，在定位服务器融合其他车辆的上报信息后，误差变为X1E，其结果X1E＜X1E1。在车辆A3再次上报X1的误差为X1E3，再次融合后的误差X1E’。可以得到X1E’＜X1E。可以看到随着更多的车辆对X1的更新，X1路标的误差将持续优化，这也使得使用路标X1进行定位的车辆位置也不断的优化。
应用示例二
定位装置在运行过程中不断的将自身的位置发送给定位服务器，定位服务器发送该位置附近的路标信息给定位装置，定位装置首先匹配定位服务器发送的路标信息，如果匹配成功，可以使用路标的绝对位置信息进行辅助定位，同时将修正后的路标位置信息再次发送给定位服务器。如图17所示。这种情况对应前面描述的第一种情况。
当装载定位装置的车辆A3运动到路标X1位置附近后，定位装置发送当前位置P3给定位服务器，定位服务器将会在路标库中搜索该位置附近的路标，可以得到路标X1可用，则将X1及其位置信息X1P，误差估计X1E发送给车辆A3。车辆A3的定位装置在图像中不断的提取交通标志与X1进行匹配，如果匹配成功，则定位装置可以通过X1的位置信息定位当前的车辆A3的位置，同时结合GPS和视觉定位算法进行融合，优化当前车辆的位置P3‘，优化后的P3’其误差估计会小于P3。同时车辆A3也会将路标X1的位置估计X1P3和误差估计X1E3上报给定位服务器进行进一步的融合。从上述过程可以看到车辆A3的位置由P3经过路标X1辅助定位后变为P3‘，精度得到了优化。
应用示例三
对应前面描述的第三种情况，在GPS不可用或者出现错误的条件下，可以通过检测路标进行回环，用于纠正当前的错误位置信息。如车辆A1在GPS辅助下，计算当前位置为P1，定位服务器发送X1附近的路标X1，X2等给车辆A1，但是车辆A1无法在当前的位置观测到该路标，并且检测出其他的路标X3，X4，定位服务器收到X3，X4，在路标库检索X3，X4进行回环检测，重新定位车辆A1的位置。
需要说明的是，上述应用示例采用GPS作为卫星定位系统，本公开实施例并不限于此，采用其他第三方定位系统也可以实施本公开。
本公开实施例还提供一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为执行如图3～图6所示的定位方法。
本公开实施例还提供一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为执行如图7～9所示的定位方法。
本公开实施例还提供一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为执行如图12～14所示的定位方法。
在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
显然，本领域的技术人员应该明白，上述的本公开实施例的模块或步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本公开实施例不限制于任何特定的硬件和软件结合。

Claims (46)

  1. 一种定位方法，包括：
    确定当前位置信息，将所述当前位置信息发送至定位服务器；
    接收所述定位服务器发送的路标的标识信息和路标位置信息；
    获取当前位置的图像，匹配所述图像与所述路标的标识信息，匹配成功时，根据(i)所述路标位置信息，或(ii)所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
  2. 如权利要求1所述的方法，其中，所述确定当前位置信息包括：
    获取卫星定位系统发送的位置信息，作为当前位置信息；或者
    获取卫星定位系统发送的位置信息，结合视觉定位信息和卫星定位系统发送的位置信息，确定当前位置信息。
  3. 如权利要求1所述的方法，其中，所述根据(i)所述路标位置信息得到修正的当前位置信息包括：
    确定当前位置与所述路标的相对位置，根据(ii)所述相对位置和所述路标位置信息得到修正的当前位置信息。
  4. 如权利要求1所述的方法，其中，所述根据所述当前位置信息和所述路标位置信息得到修正的当前位置信息包括：
    确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息确定当前估计位置信息，根据所述当前位置信息和当前估计位置信息，得到修正的当前位置信息。
  5. 如权利要求3或4所述的方法，其中，所述确定当前位置与所述路标的相对位置包括：
    获取所述当前位置的图像的深度信息和所述图像的位置变化关系，根据所述深度信息和所述位置变化关系，得到当前位置与所述路标的相对位置。
  6. 如权利要求1～4中任意一项所述的方法，在匹配所述图像与所述路标的标识信息成功之后，还包括：
    对所述路标位置信息进行修正，得到修正的路标位置信息；
    将所述修正的路标位置信息发送至定位服务器。
  7. 如权利要求6所述的方法，其中，所述对所述路标位置信息进行修正，得到修正的路标位置信息包括：
    确定当前位置与所述路标的相对位置，根据所述相对位置和修正的当前位置信息得到修正的路标位置信息。
  8. 如权利要求6所述的方法，其中，所述将修正的路标位置信息发送至定位服务器，还包括：将当前时间信息发送至所述定位服务器。
  9. 一种定位方法，包括：
    接收当前位置信息；
    根据所述当前位置信息搜索路标库，发送搜索到的与所述当前位置信息相匹配的路标的标识信息和路标位置信息。
  10. 如权利要求9所述的方法，还包括：
    接收修正的路标位置信息；
    根据所述修正的路标位置信息更新所述路标库中所述路标的路标位置信息。
  11. 如权利要求10所述的方法，还包括：
    接收所述修正的路标位置信息对应的当前时间信息，将所述当前时间信息存入所述路标库。
  12. 如权利要求9所述的方法，还包括：
    接收路标的标识信息和路标位置信息；
    根据所述路标的标识信息在所述路标库中查找所述路标，若所述路标不存在，则将所述路标的标识信息和路标位置信息存入所述路标库。
  13. 如权利要求12的方法，其中，在所述根据所述标识信息在路标库中查找所述路标中，若所述路标存在，所述方法还包括：
    根据接收到的所述路标位置信息更新所述路标库中存储的路标位置信息。
  14. 如权利要求9～13中任意一项所述的方法，还包括：
    设置所述路标库中的每个路标的生命周期；
    删除在生命周期中未更新且到达生命周期上限的路标。
  15. 一种定位方法，包括：
    根据当前位置的图像获取路标的标识信息，根据当前位置信息确定所述路标的路标位置信息；
    将所述路标的标识信息和所述路标的路标位置信息发送至定位服务器。
  16. 如权利要求15所述的方法，在所述根据当前位置信息确定所述路标的路标位置信息之前，还包括：
    获取卫星定位系统发送的位置信息，作为当前位置信息；或者
    获取卫星定位系统发送的位置信息，结合视觉定位信息和卫星定位系统发送的位置信息，确定当前位置信息。
  17. 如权利要求15或16所述的方法，其中，所述根据当前位置信息确定所述路标的路标位置信息包括：
    确定当前位置与所述路标的相对位置，根据所述相对位置和所述当前位置信息，确定所述路标位置信息。
  18. 一种定位方法，包括：
    根据当前位置的图像获取路标的标识信息，将所述路标的标识信息发送至定位服务器；
    接收定位服务器发送的所述路标的路标位置信息；
    根据(i)所述路标位置信息，或(ii)所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
  19. 如权利要求18所述的方法，在所述根据(ii)所述当前位置信息和所述路标位置信息得到修正的当前位置信息之前，所述方法还包括：
    获取卫星定位系统发送的位置信息，作为当前位置信息；或者
    获取卫星定位系统发送的位置信息，结合视觉定位信息和卫星定位系统发送的位置信息，确定当前位置信息。
  20. 如权利要求18所述的方法，其中，所述根据(i)所述路标位置信息得到修正的当前位置信息包括：
    确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息得到修正的当前位置信息。
  21. 如权利要求18所述的方法，其中，所述根据(ii)所述当前位置信息和所述路标位置信息得到修正的当前位置信息包括：
    确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息确定当前估计位置信息，根据所述当前位置信息和当前估计位置信息，得到修正的当前位置信息。
  22. 一种定位方法，包括：
    接收路标的标识信息；
    根据所述路标的标识信息搜索路标库，发送搜索到的所述路标的路标位置信息。
  23. 一种定位装置，包括：视觉处理单元、通信单元和视觉传感器，其中：
    所述视觉处理单元，设置为确定当前位置信息；
    所述通信单元，设置为将所述当前位置信息发送至定位服务器，以及，接 收所述定位服务器发送的路标的标识信息和路标位置信息；
    所述视觉传感器，设置为获取当前位置的图像；
    所述视觉处理单元，还设置为匹配所述图像与所述路标的标识信息，匹配成功时，根据(i)所述路标位置信息，或(ii)所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
  24. 如权利要求23所述的定位装置，还包括：卫星定位系统接收单元，
    所述卫星定位系统接收单元设置为获取卫星定位系统发送的位置信息；
    所述视觉处理单元，设置为将卫星定位系统发送的位置信息作为当前位置信息；或者将卫星定位系统发送的位置信息和视觉定位信息结合，确定当前位置信息。
  25. 如权利要求23所述的定位装置，其中，
    所述视觉处理单元，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息得到修正的当前位置信息。
  26. 如权利要求23所述的定位装置，其中，
    所述视觉处理单元，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息确定当前估计位置信息，根据所述当前位置信息和当前估计位置信息，得到修正的当前位置信息。
  27. 如权利要求23～26中任意一项所述的定位装置，其中，
    所述视觉处理单元，还设置为匹配成功之后，对所述路标位置信息进行修正，得到修正的路标位置信息；
    所述通信单元，还设置为将修正的路标位置信息发送至定位服务器。
  28. 如权利要求27所述的定位装置，其中，
    所述视觉处理单元，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和所述修正的当前位置信息得到修正的路标位置信息。
  29. 如权利要求27所述的定位装置，其中，
    所述第一通信单元，还设置为将修正的路标位置信息发送至定位服务器时，将当前时间信息发送至所述定位服务器。
  30. 一种定位服务器，包括：路标处理单元和通信单元，其中：
    所述通信单元，设置为接收当前位置信息；
    所述路标处理单元，设置为根据所述当前位置信息搜索路标库；
    所述通信单元，还设置为发送路标处理单元搜索到的与所述当前位置信息 相匹配的路标的标识信息和路标位置信息。
  31. 如权利要求30所述的定位服务器，其中，
    所述通信单元，还设置为接收修正的路标位置信息；
    所述路标处理单元，还设置为根据所述修正的路标位置信息更新所述路标库中所述路标的路标位置信息。
  32. 如权利要求31所述的定位服务器，其中，
    所述通信单元，还设置为接收所述修正的路标位置信息对应的当前时间信息；
    所述路标处理单元，还设置为将所述当前时间信息存入所述路标库。
  33. 如权利要求30所述的定位服务器，其中，
    所述通信单元，还设置为接收路标的标识信息和路标位置信息；
    所述路标处理单元，还设置为根据所述标识信息在路标库中查找所述路标，若所述路标不存在，则将所述路标的标识信息和路标位置信息存入所述路标库。
  34. 如权利要求33所述的定位服务器，其中，
    所述路标处理单元，还设置为根据所述标识信息在路标库中查找所述路标，若所述路标存在，则根据接收到的所述路标位置信息更新所述路标库中存储的路标位置信息。
  35. 如权利要求30～34中任意一项所述的定位服务器，其中，
    所述路标处理单元，还设置为设置路标库中的每个路标的生命周期；删除在生命周期中未更新且到达生命周期上限的路标。
  36. 一种定位装置，包括：视觉处理单元、通信单元和视觉传感器，其中：
    所述视觉传感器，设置为获取当前位置的图像；
    所述视觉处理单元，设置为根据所述当前位置的图像获取路标的标识信息，根据当前位置信息确定所述路标的路标位置信息；
    所述通信单元，设置为将所述路标的标识信息和路标位置信息发送至定位服务器。
  37. 如权利要求36所述的定位装置，还包括：卫星定位系统接收单元，
    所述卫星定位系统接收单元设置为获取卫星定位系统发送的位置信息；
    所述视觉处理单元，还设置为将所述卫星定位系统发送的位置信息作为当前位置信息；或者根据所述卫星定位系统发送的位置信息和视觉定位信息的结合，确定当前位置信息。
  38. 如权利要求36所述的定位装置，其中，
    所述视觉处理单元，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和当前位置信息，确定所述路标位置信息。
  39. 一种定位装置，包括：视觉处理单元、通信单元和视觉传感器，其中：
    所述视觉传感器，设置为获取当前位置的图像；
    所述视觉处理单元，设置为根据当前位置的图像获取路标的标识信息；
    所述通信单元，设置为将所述路标的标识信息发送至定位服务器；以及，接收定位服务器发送的所述路标的路标位置信息；
    所述视觉处理单元，还设置为根据(i)所述路标位置信息，或(ii)所述当前位置信息和所述路标位置信息得到修正的当前位置信息。
  40. 如权利要求39所述的定位装置，还包括：卫星定位系统接收单元，
    所述卫星定位系统接收单元设置为获取卫星定位系统发送的位置信息；
    所述视觉处理单元，还设置为将所述卫星定位系统发送的位置信息作为当前位置信息；或者根据所述卫星定位系统发送的位置信息和视觉定位信息的结合，确定当前位置信息。
  41. 如权利要求39所述的定位装置，其中，
    所述视觉处理单元，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息得到修正的当前位置信息。
  42. 如权利要求39所述的定位装置，其中，
    所述视觉处理单元，设置为确定当前位置与所述路标的相对位置，根据所述相对位置和所述路标位置信息确定当前估计位置信息，根据所述当前位置信息和当前估计位置信息，得到修正的当前位置信息。
  43. 一种定位服务器，包括：路标处理单元和通信单元，其中：
    所述通信单元，设置为接收路标的标识信息；
    所述路标处理单元，设置为根据所述路标的标识信息搜索路标库；
    所述通信单元，还设置为发送所述路标处理单元搜索到的所述路标的路标位置信息。
  44. 一种定位系统，包括如权利要求23～29和36～42中任意一项所述的定位装置，以及如权利要求30～35和43中任意一项所述的定位服务器。
  45. 一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为执行权利要求1～8和15～21中任一项所述的定位方法。
  46. 一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为执行权利要求9～14和22中任一项所述的定位方法。
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