WO2019154029A1

WO2019154029A1 - Method for searching for target object, and apparatus and storage medium

Info

Publication number: WO2019154029A1
Application number: PCT/CN2019/071820
Authority: WO
Inventors: 马洋洋
Original assignee: 北京宝沃汽车有限公司
Priority date: 2018-02-12
Filing date: 2019-01-15
Publication date: 2019-08-15
Also published as: CN110163908A

Abstract

The purpose of the present disclosure is to provide a method for searching for a target object, and an apparatus and storage medium, so as to make it more convenient for a driver to search for a target object. The method comprises: obtaining feature information of a target object; photographing the environment around a vehicle to obtain an environment image; detecting whether there is, in the environment image, a target scene element matching the feature information of the target object; if there is a target scene element in the environment image, then prompting the driver with the position and orientation of the target scene element.

Description

Method, device and storage medium for finding a target

Cross-reference to related applications

The present application claims the priority of the Chinese Patent Application No. 20110114618 9.3 filed on Feb. 12, s.

Technical field

The present disclosure relates to the field of information processing, and in particular, to a method, an apparatus, and a storage medium for finding an object.

Background technique

When the passengers and the driver agree on the target location, they often agree on some detailed targets, such as the west gate of the XX building, the door of the XXX store, and the passenger wearing a black shirt. At present, the navigation map location can only determine the approximate location of a certain location. When the driver reaches a certain location by viewing the navigation map, it is difficult to further determine the precise location of the roadside object to be found through the navigation map. Drivers often need to drive while looking for roadside targets, such as target buildings or passengers. This can lead to the driver's shift of sight and the inability to concentrate on the road conditions, posing a hidden danger to traffic safety.

Affected by traffic flow and roadside landscapes, passengers find that objects that are easy to observe may be difficult to observe for drivers who are driving. In addition, passengers may also move within a small range of agreed target locations, which increases the difficulty for the driver to find passengers, causing the driver to spend more time and energy to find passengers.

Summary of the invention

It is an object of the present disclosure to provide a method, apparatus, and storage medium for finding an object to improve the convenience of the driver in finding a target.

In order to achieve the above object, in a first aspect, an embodiment of the present disclosure provides a method for finding an object, the method comprising:

Obtaining feature information of the target;

Photographing the environment around the vehicle to obtain an environmental image;

Detecting whether there is a target scene element in the environment image that matches the feature information of the target object;

When the target scene element is present in the environment image, the driver is prompted with the location of the target scene element.

Optionally, the acquiring feature information of the target includes performing any of the following operations:

Obtaining an image of the target object, and acquiring image feature information of the target object from the image of the target object;

Acquiring an instruction input by the driver including the target name, and acquiring name feature information of the target from the instruction.

Optionally, the feature information includes image feature information of the target object, and detecting whether the environment image has a scene element that matches the feature information of the target object includes:

Detecting whether there is a scene element in the environment image that matches image feature information of the target.

Optionally, the feature information includes the name feature information of the target, and the detecting, by the environment image, whether the scene element matches the feature information of the target includes:

Identifying a character element from the environmental image;

Detecting whether there is a character element in the environment image that matches the name information of the target.

Optionally, the method further includes: before capturing an environment image of the environment around the vehicle;

Obtaining a distance between the vehicle and the target;

The shooting of the environment around the vehicle results in an environmental image, including:

When the distance is less than the preset distance threshold, an environment image is obtained by photographing an environment around the vehicle.

Optionally, the prompting the driver of the location of the target scene element includes:

Displaying the environmental image and identifying the target scene element on the displayed environmental image.

Optionally, the method further includes:

After prompting the driver of the orientation of the target scene element, if the confirmation command is not received, the next target scene element matching the feature information of the target is sought.

In a second aspect, an embodiment of the present disclosure provides an apparatus for searching for an object, where the apparatus includes:

a feature acquisition module, configured to acquire feature information of the target object;

An image acquisition module for capturing an environment image of an environment surrounding the vehicle;

An identification module, configured to detect, in the environment image, whether there is a target scene element that matches the feature information of the target object;

The prompting module is configured to prompt the driver of the orientation of the target scene element when the target scene element is included in the environment image.

Optionally, the feature obtaining module is configured to perform any of the following operations:

Optionally, the feature information includes image feature information of the target, and the identification module is configured to detect whether the environment image has a scene element that matches image feature information of the target.

Optionally, the feature information includes name feature information of the target, the identification module is configured to identify a character element from the environment image, and detect whether the environment image has a name corresponding to the target object. The character element that the information matches.

Optionally, the device further includes:

a positioning module, configured to acquire a distance between the vehicle and the target object before capturing an environment image of the environment around the vehicle;

The image acquisition module is further configured to: when the distance is less than a preset distance threshold, photograph an environment surrounding the vehicle to obtain an environment image.

Optionally, the prompting module is configured to display the environment image, and identify the target scene element on the displayed environment image.

Optionally, the identifying module is further configured to: after the prompting module prompts the driver of the location of the target scene element, if not receiving the confirmation instruction, searching for the next feature information of the target object Matching target scene elements.

In a third aspect, an embodiment of the present disclosure provides a computer program that, when executed by a processor, implements the steps of the method for finding an object.

In a fourth aspect, an embodiment of the present disclosure provides a computer readable storage medium having stored thereon a computer program, the step of implementing the method for finding an object when the program is executed by a processor.

In a fifth aspect, an embodiment of the present disclosure provides an apparatus for searching for an object, including:

The computer readable storage medium; and one or more processors for executing a program in the computer readable storage medium.

In a sixth aspect, an embodiment of the present disclosure provides a vehicle including the device for finding an object.

Through the above technical solutions, at least the following technical effects can be achieved:

Obtaining feature information of the target object, capturing an environment image of the environment around the vehicle, and then detecting whether the environment image has a target scene element that matches the feature information of the target object, and having the target image element in the environmental image When the target scene element is used, the driver is prompted with the orientation of the target scene element. In this way, the convenience of the driver to find the target can be improved, and the driver can reduce the line of sight when searching for the target while driving, and improve driving safety.

Other features and advantages of the present disclosure will be described in detail in the detailed description which follows.

DRAWINGS

The drawings are intended to provide a further understanding of the disclosure, and are in the In the drawing:

FIG. 1 is a flow chart of a method for finding an object, according to an exemplary embodiment of the present disclosure.

2 is a block diagram of an apparatus for finding an object, according to an exemplary embodiment of the present disclosure.

FIG. 3 is a block diagram of an apparatus for finding an object, according to an exemplary embodiment of the present disclosure.

Detailed ways

The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are not to be construed

FIG. 1 is a flowchart of a method for finding an object according to an exemplary embodiment of the present disclosure, the method includes:

S11. Acquire feature information of the target object.

Among them, the target may be a building, a road sign, or the passenger himself.

In a possible implementation manner, step S11 includes acquiring an image of the target object, and acquiring image feature information of the target object from the image of the target object. For example, the image of the passenger shooting target building or the image of the passenger himself is obtained from the electronic device of the passenger by remote communication, or the image of the target building or the image of the target passenger is acquired from the electronic device of the driver. It is worth noting that in order to improve the accuracy of finding the subsequent target, it is preferable to obtain an image whose shooting time is close to the current time, so that the reduction of the feature matching degree due to the natural light change can be reduced. Next, image feature information of the object is extracted from the image of the object. For example, facial feature information of a person, façade feature information of a building.

In some cases, an instruction input by the driver including the target name may also be acquired, and name feature information of the target is acquired from the instruction. For example, if the target is a building, the driver can also manually input or voice input the name character of the building. Then generate corresponding name feature information based on these characters, for example, "Friendship Hotel", "Peace Building" and the like. In addition, if the driver inputs a string of characters including the name of the building, for example, "9:30 arrives at the Friendship Hotel West Gate", the corresponding name feature information "Friendship Hotel" can also be extracted by semantic recognition.

S12, taking an environment image of the environment around the vehicle.

For example, the vehicle is loaded with an imaging device, which may be a driving recorder, a reversing imaging device, or the like. In addition, an infrared scanning imaging device can be loaded to obtain a more detailed environmental image.

Optionally, before the step S12, the method further includes: acquiring a distance between the vehicle and the target; the step S12, comprising: surrounding the vehicle when the distance is less than a preset distance threshold The environment is taken to get an environmental image.

In general, the approximate position of the target object can be determined by navigation, and the operation of capturing the environment image is performed when the vehicle travels until the distance from the target object is less than a preset threshold. In this way, power can be saved and resources of the in-vehicle data network can be saved.

S13. Detect whether there is a target scene element in the environment image that matches the feature information of the target object.

In an optional implementation manner, acquiring feature information of the target object is image feature information of the target object, and detecting whether the environment image has a scene element that matches image feature information of the target object. That is to say, if the image feature information of the target object is acquired, the scene element in the environment image is compared with the image feature information. If the matching degree of the image feature information of a certain scene element and the target exceeds the preset matching degree threshold, the scene element may be determined as the target feature element.

In another optional implementation manner, acquiring feature information of the target object is name feature information of the target object, identifying a character element from the environment image, and detecting whether the target image is in the environment image. The name information matches the character element. That is to say, if the name feature information of the target object is acquired, the character element is recognized from the environment scene, and then it is determined whether there is a character element matching the name feature information.

In some environmental images, the complete character elements may not be recognized, and correspondingly, it is also possible to determine whether there is a character element whose semantics match the semantics of the object name feature information by semantic matching.

S14. When the target scene element is included in the environment image, prompt the driver to locate the target scene element.

In an optional implementation manner, the environmental image is displayed, and the target scene element is identified on the displayed environmental image. For example, if it is determined that an element in the environmental image matches the image feature of the target, the environmental image is projected onto the front windshield of the vehicle, or displayed on the display of the vehicle multimedia, and the target scene element is Marked in the environmental image. In this way, the driver can refer to the positional relationship between the target scene element and other scenes in the environment image to find the target in time.

Further, in order to facilitate the driver to know the specific orientation of the target scene element, the environment image may be subjected to image processing, and the target scene element is highlighted by effects such as blinking and highlighting.

In another optional implementation manner, the position of the target scene element relative to the vehicle may be determined according to the position of the target scene element in the environment image, and the driver is prompted to pay attention to the orientation by voice. For example, the image of the environment in front of the vehicle is collected by the on-vehicle camera, and if the target scene element is determined to be on the right side of the environment image by image analysis, the driver is prompted to pay attention to the right direction of the direction of travel.

Further, the method further includes: after notifying the driver of the location of the target scene element, if the confirmation instruction is not received, searching for the next target scene element that matches the feature information of the target.

In a specific implementation, when it is determined that there is a target scene element in the environment image that matches the feature information of the target object, the driver is prompted with the location of the target scene element, and waits for the confirmation instruction. The driver can issue a confirmation command via a button or voice on the vehicle. If the driver believes that the target scene element does not match the target to be found, the confirmation command is not issued. If the vehicle does not receive the confirmation command, the currently determined target scene element is discarded, and the next target scene element matching the feature information of the target is continuously searched for.

Further, the driver can cause the vehicle to stop the above-described steps in the method of finding the object by issuing a command to stop the search for the object. For example, if the driver has found the target, he or she can issue a “stop finding target” command to stop finding the target. Correspondingly, after receiving the stop searching target command, stopping shooting the environment around the vehicle; stopping detecting whether the environment image has a target scene element that matches the feature information of the target; if it has been found To the target scene element, the driver is also prompted to indicate the orientation of the target scene element.

FIG. 2 is a diagram of an apparatus for finding an object according to an exemplary embodiment of the present disclosure, the apparatus comprising:

The feature acquisition module 210 is configured to acquire feature information of the target object.

The image acquisition module 220 is configured to capture an environment image of the environment around the vehicle to obtain an environment image;

The identification module 230 is configured to detect whether there is a target scene element in the environment image that matches the feature information of the target object;

The prompting module 240 is configured to prompt the driver of the location of the target scene element when the target scene element is included in the environment image.

Optionally, the feature obtaining module 210 is configured to perform any of the following operations:

Optionally, the feature information includes image feature information of the target, and the identification module 230 is configured to detect whether the environment image has a scene element that matches image feature information of the target.

Optionally, the feature information includes name feature information of the target, the identification module 230 is configured to identify a character element from the environment image, and detect whether the environment image has the target object A character element that matches the name information.

Optionally, the device further includes:

The image acquisition module 220 is further configured to: when the distance is less than a preset distance threshold, capture an environment image of an environment surrounding the vehicle.

Optionally, the prompting module 240 is configured to display the environment image, and identify the target scene element on the displayed environment image.

Optionally, the identifying module 230 is further configured to: after the prompting module prompts the driver of the location of the target scene element, if not receiving the confirmation instruction, searching for the next feature of the target object The target scene element that the information matches.

With regard to the apparatus in the above embodiments, the specific manner in which the respective modules perform the operations has been described in detail in the embodiment relating to the method, and will not be explained in detail herein.

Embodiments of the present disclosure provide a computer program that, when executed by a processor, implements the steps of the above method of finding an object.

Embodiments of the present disclosure provide a computer readable storage medium having stored thereon a computer program, the program being executed by a processor to implement the steps of the method for finding an object.

An embodiment of the present disclosure provides an apparatus for finding an object, including:

Embodiments of the present disclosure provide a vehicle including the device for finding an object.

FIG. 3 is a block diagram of an apparatus 300 for finding a target, according to an exemplary embodiment. For example, device 300 can be a driving recorder.

Referring to FIG. 3, apparatus 300 can include one or more of the following components: processing component 302, memory 304, power component 306, multimedia component 308, audio component 310, input/output (I/O) interface 312, sensor component 314, And a communication component 316.

Processing component 302 typically controls the overall operation of device 300, such as operations associated with display, data communication, camera operations, and recording operations. Processing component 302 can include one or more processors 320 to execute instructions to perform all or part of the steps of the method of finding an object as described above. Moreover, processing component 302 can include one or more modules to facilitate interaction between component 302 and other components. For example, processing component 302 can include a multimedia module to facilitate interaction between multimedia component 308 and processing component 302.

Memory 304 is configured to store various types of data to support operation at device 300. Examples of such data include instructions for any application or method operating on device 300, environmental images, feature information of objects, semantic recognition libraries, and the like. The memory 304 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable. Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Disk or Optical Disk.

Power component 306 provides power to various components of device 300. Power component 306 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 300.

The multimedia component 308 includes a screen between the device 300 and the user that provides an output interface. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor may sense not only the boundary of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 308 includes one or more cameras. When the device 300 is in an operation mode, such as a shooting mode or a video mode, one or more cameras can receive external multimedia data. Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 310 is configured to output and/or input an audio signal. For example, audio component 310 includes a microphone (MIC) that is configured to receive an external audio signal when device 300 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may be further stored in memory 304 or transmitted via communication component 316. In some embodiments, audio component 310 also includes a speaker for outputting an audio signal.

The I/O interface 312 provides an interface between the processing component 302 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.

Sensor assembly 314 includes one or more sensors for providing status assessment of various aspects to device 300. For example, sensor assembly 314 can detect an open/closed state of device 300, relative positioning of components, such as the display and keypad of device 300, and sensor component 314 can also detect a change in position of one component of device 300 or device 300. The presence or absence of user contact with device 300, device 300 orientation or acceleration/deceleration, and temperature variation of device 300. Sensor assembly 314 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 314 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

Communication component 316 is configured to facilitate wired or wireless communication between device 300 and other devices. The device 300 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, communication component 316 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 316 also includes a near field communication (NFC) module to facilitate short range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, apparatus 300 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above-described method of finding a target.

In an exemplary embodiment, there is also provided a computer program that, when executed by a processor, implements the steps of the method of finding an object as described above.

In an exemplary embodiment, there is also provided a non-transitory computer readable storage medium comprising instructions, such as a memory 304 comprising instructions executable by processor 320 of apparatus 300 to perform the above-described method of finding an object. For example, the non-transitory computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solutions of the present disclosure within the scope of the technical idea of the present disclosure. These simple variations are all within the scope of the disclosure. It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure is applicable to various possibilities. The combination method will not be described separately.

In addition, any combination of various embodiments of the present disclosure may be made as long as it does not deviate from the idea of the present disclosure, and should also be regarded as the disclosure of the present disclosure.

Claims

A method for finding an object, characterized in that the method comprises:

Obtaining feature information of the target;

Photographing the environment around the vehicle to obtain an environmental image;

Detecting whether there is a target scene element in the environment image that matches the feature information of the target object;

When the target scene element is present in the environment image, the driver is prompted with the location of the target scene element.
The method according to claim 1, wherein the acquiring the feature information of the target comprises performing any of the following operations:

Obtaining an image of the target object, and acquiring image feature information of the target object from the image of the target object;

Acquiring an instruction input by the driver including the target name, and acquiring name feature information of the target from the instruction.
The method according to claim 2, wherein the feature information includes image feature information of the target, and the detecting whether the environment image has a scene element matching the feature information of the target ,include:

Detecting whether there is a scene element in the environment image that matches image feature information of the target.
The method according to claim 2, wherein the feature information includes name feature information of the target, and the detecting whether the environment image has a scene element matching the feature information of the target ,include:

Identifying a character element from the environmental image;

Detecting whether there is a character element in the environment image that matches the name information of the target.
The method according to any one of claims 1 to 4, wherein the method further comprises: before photographing an environment around the vehicle to obtain an environmental image;

Obtaining a distance between the vehicle and the target;

The shooting of the environment around the vehicle results in an environmental image, including:

When the distance is less than the preset distance threshold, an environment image is obtained by photographing an environment around the vehicle.
The method according to any one of claims 1 to 4, wherein the prompting the driver of the orientation of the target scene element comprises:

Displaying the environmental image and identifying the target scene element on the displayed environmental image.
The method according to any one of claims 1 to 4, wherein the method further comprises:

After prompting the driver of the orientation of the target scene element, if the confirmation command is not received, the next target scene element matching the feature information of the target is sought.
A device for finding an object, characterized in that the device comprises:

a feature acquisition module, configured to acquire feature information of the target object;

An image acquisition module for capturing an environment image of an environment surrounding the vehicle;

An identification module, configured to detect, in the environment image, whether there is a target scene element that matches the feature information of the target object;

The prompting module is configured to prompt the driver of the orientation of the target scene element when the target scene element is included in the environment image.
A computer readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the steps of the method of any of claims 1-7.
A device for finding an object, comprising:

The computer readable storage medium of claim 9;

One or more processors for executing a program in the computer readable storage medium.
A computer program, characterized in that the program is executed by a processor to carry out the steps of the method of any one of claims 1-7.
A device for finding an object, comprising:

The computer program of claim 11;

One or more processors for executing the computer program.
A vehicle characterized by comprising the apparatus for finding an object as claimed in claim 8, 10 or 12.