WO2020014940A1 - 一种地图更新方法、装置、终端和计算机可读存储介质 - Google Patents

一种地图更新方法、装置、终端和计算机可读存储介质 Download PDF

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Publication number
WO2020014940A1
WO2020014940A1 PCT/CN2018/096366 CN2018096366W WO2020014940A1 WO 2020014940 A1 WO2020014940 A1 WO 2020014940A1 CN 2018096366 W CN2018096366 W CN 2018096366W WO 2020014940 A1 WO2020014940 A1 WO 2020014940A1
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WIPO (PCT)
Prior art keywords
map
success probability
image data
updating
positioning success
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PCT/CN2018/096366
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English (en)
French (fr)
Inventor
易万鑫
廉士国
林义闽
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Cloudminds Shenzhen Robotics Systems Co Ltd
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Cloudminds Shenzhen Robotics Systems Co Ltd
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Priority to CN201880001110.6A priority Critical patent/CN109073399B/zh
Priority to PCT/CN2018/096366 priority patent/WO2020014940A1/zh
Publication of WO2020014940A1 publication Critical patent/WO2020014940A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data

Definitions

  • the present application relates to the field of computer vision, and in particular, to a map update method, device, terminal, and computer-readable storage medium.
  • mapping and positioning methods are generally used to manually collect maps. Due to changes in the scene, the previously acquired map may have poor positioning results, and the positioning success rate may decrease. If a map with a low positioning success rate is used for positioning, accidents are likely to occur.
  • the inventor discovered during the research of the prior art that, in order to avoid the above situation, it is necessary to artificially determine whether the map is valid, and to update the map if the map is invalid.
  • This method relies more on manpower, and it needs artificially to judge the validity of the map, and it also needs to artificially update the map, so that many subjective factors are added in the process of judging the validity of the map. For example, if the user does not check the map in time, the map is not updated in time, which affects the positioning effect. In addition, manpower maintaining maps in real time will cause a certain amount of manpower waste.
  • a technical problem to be solved in some embodiments of the present application is how to implement automatic update of a map.
  • An embodiment of the present application provides a map updating method, including: obtaining indication information of a first map, where the indication information of the first map is used to indicate a establishment time of the first map, and / or is used to indicate the first map A map's positioning success probability; comparing the indication information of the first map with preset information, and updating the first map according to the comparison result.
  • An embodiment of the present application further provides a map updating device, which includes: an obtaining module and an updating module; the obtaining module is configured to obtain indication information of a first map, and the indication information of the first map is used to instruct the first map The establishment time of the map, and / or, is used to indicate the positioning success probability of the first map; the update module is used to compare the indication information of the first map with preset information, and update the first map according to the comparison result.
  • An embodiment of the present application further provides a terminal, including at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor.
  • the processor executes to enable at least one processor to execute the map updating method mentioned in the foregoing embodiment.
  • An embodiment of the present application further provides a computer-readable storage medium storing a computer program, wherein the computer program implements the map updating method mentioned in the foregoing embodiment when executed by a processor.
  • the embodiments of the present application compare the indication information of the map with the preset information, determine whether the map is valid according to the comparison result, and update the map when the map is found to be invalid, so that the terminal can Update maps automatically without manual updates.
  • the terminal automatically updates the map to avoid wasting human resources. Update the map in time to ensure the accuracy of terminal positioning.
  • FIG. 1 is a flowchart of a map update method according to a first embodiment of the present application
  • FIG. 2 is a flowchart of a map update method according to a second embodiment of the present application.
  • FIG. 3 is a flowchart of map update using method 2 in the second embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a map update device according to a third embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of another map update device according to a third embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a terminal according to a fourth embodiment of the present application.
  • the first embodiment of the present application relates to a map updating method, which is applied to a terminal or a cloud.
  • the terminal may be a smart robot, a driverless vehicle, a blind navigation device, or the like.
  • the cloud communicates with the terminal, providing the terminal with a map for positioning or providing positioning results directly to the terminal.
  • This embodiment uses a terminal as an example to describe the execution process of the map update method.
  • the map update method includes:
  • Step 101 Acquire indication information of a first map.
  • the indication information of the first map is used to indicate the establishment time of the first map, and / or used to indicate the positioning success probability of the first map.
  • Step 102 Compare the indication information of the first map with the preset information, and update the first map according to the comparison result.
  • the first map is visually located and mapped (Visual Simultaneous localization and mapping (VSLAM) technology.
  • VSLAM Visual Simultaneous localization and mapping
  • the first map may also be a map established by other technologies.
  • the method for updating the first map according to the comparison result between the indication information of the first map and the preset information is exemplified below.
  • the indication information of the first map is the establishment time of the first map
  • the preset information is the valid duration of the map.
  • the terminal obtains the establishment time of the first map, and determines whether the establishment time of the first map is greater than the valid duration of the map. If it is determined to be yes, the first map is updated.
  • the method for determining the establishment time of the first map by the terminal may be: obtaining the establishment time of the first map, and determining the establishment time of the first map according to the establishment time of the first map and the current time, or other methods. The example does not limit the specific method for the terminal to obtain the establishment time of the first map.
  • the indication information of the first map is the positioning success probability of the first map
  • the preset information is the lowest positioning success probability.
  • the terminal obtains the positioning success probability of the first map, determines whether the positioning success probability of the first map is less than the minimum positioning success probability, and if it is determined to be correct, updates the map.
  • the terminal may determine the positioning success probability of the first map according to Formula 1.
  • s is the positioning success probability of the first map
  • Sn is the number of successfully positioned images during positioning
  • Tn is the number of all images used for positioning.
  • the effective duration and minimum positioning success probability of the map mentioned above can be set according to experience.
  • the effective duration of the map can be set to one month, and the minimum positioning success probability can be set to 0.8.
  • the indication information of the first map is the establishment time of the first map and the positioning success probability of the first map
  • the preset information is the valid duration of the map and the lowest positioning success probability.
  • the terminal obtains the establishment time of the first map and the positioning success probability of the first map, and updates the first map after determining that the establishment time of the first map is greater than the valid duration of the map and the positioning success probability of the first map is less than the minimum positioning success probability.
  • the terminal obtains the establishment time of the first map and the positioning success probability of the first map, and determines that the establishment time of the first map is greater than the valid duration of the map, or updates the positioning success probability of the first map to be less than the minimum positioning success probability, and updates First map.
  • the method for updating the map by the terminal may include, but is not limited to, the following two methods.
  • Method A The terminal collects image data for establishing a map, and based on the acquired image data, uses VSLAM technology to establish a map for updating the first map.
  • Method B The terminal acquires image data collected during positioning, and based on the image data collected during positioning, uses VSLAM technology to establish a map for updating the first map.
  • the map updating method compares the indication information of the map with preset information, determines whether the map is valid according to the comparison result, and updates the map when the map is found to be invalid, so that the terminal can When a map fails, the map is automatically updated without manual updates.
  • the terminal automatically updates the map to avoid wasting human resources. Update the map in time to ensure the accuracy of terminal positioning.
  • the second embodiment of the present application relates to a method for updating a map.
  • This embodiment is a further refinement of the first embodiment, and specifically describes a process in which the terminal updates the first map.
  • the map update method is described by taking the indication information of the first map as the establishment time of the first map and the positioning success probability of the first map as examples.
  • the indication information of the first map is For a map update method of other information, refer to this embodiment.
  • the map update method includes the following steps:
  • Step 201 Obtain the establishment time of the first map and the positioning success probability of the first map.
  • Step 202 Determine whether the establishment time of the first map is greater than the effective duration of the map, or whether the positioning success probability of the first map is less than the minimum positioning success probability.
  • step 203 if the terminal determines that the establishment time of the first map is greater than the valid duration of the map, or that the positioning success probability of the first map is less than the minimum positioning success probability, step 203 is performed; otherwise, the process ends.
  • Step 203 Acquire image data in the image database, and determine a second map according to the image data in the image database.
  • the image database stores image data obtained during positioning.
  • the terminal saves the image data collected by the vision sensor to an image database.
  • the terminal establishes a second map for replacing the first map according to the image data in the image database.
  • the method for determining the second map by the terminal based on the image data in the image database is exemplified below.
  • Method 1 The terminal arbitrarily selects one image data from the image database, and establishes a third map based on the image data.
  • the terminal tests the third map, uses the third map for positioning, and determines whether the positioning success probability of the third map is greater than the lowest positioning success probability. If it is determined, the third map is used as the second map and the first map is replaced, otherwise, Do not update the first map.
  • Method 2 During a map establishment process, the terminal obtains image data in the image database that has not been used to create a map, and according to the acquired image data, establishes a third map, determines the positioning success probability of the third map, and judges the third Whether the positioning success probability of the map is greater than the minimum positioning success probability. If it is determined that the third map is used as the second map, stop the map establishment process; otherwise, proceed to the next map establishment process.
  • the image data in the image database is arranged in the order of acquisition.
  • the terminal obtains the image data that is not in the image database and has not been used to build a map.
  • the terminal monitors the number of times the map is created during the current map update process.
  • the positioning success probability of the third map is not greater than the minimum positioning success probability, and when the number of map creations is less than N during the map update process, re-acquire image data, and re-create a third map based on the re-acquired image data;
  • the positioning success probability of the third map is not greater than the minimum positioning success probability, and when the number of map creation times is not less than N during the map update process, the terminal ends the map update process.
  • the positioning success probability of the third map is tested to avoid replacing the first map with an invalid map and affecting the positioning accuracy.
  • the method for updating the map using method 2 is detailed below. As shown in FIG. 3, the method for updating the map using method 2 includes the following steps:
  • Step 301 Obtain the establishment time of the first map and the positioning success probability of the first map.
  • Step 302 Determine whether the establishment time of the first map is greater than the effective duration of the map, or whether the positioning success probability of the first map is less than the minimum positioning success probability.
  • step 303 determines that the establishment time of the first map is greater than the effective duration of the map, or that the positioning success probability of the first map is less than the minimum positioning success probability, step 303 is performed, otherwise, step 309 is performed.
  • Step 303 Obtain image data in the image database that has not yet been used to build a map.
  • Step 304 Create a third map according to the image data.
  • Step 305 Test the positioning success probability of the third map.
  • Step 306 Determine whether the positioning success probability of the third map is greater than the lowest positioning success probability. If it is determined that the positioning success probability of the third map is greater than the lowest positioning success probability, step 307 is performed; otherwise, step 308 is performed.
  • Step 307 Use the third map as the second map and replace the first map. End the update process.
  • Step 308 Determine whether the number of times of building a map is less than N. If it is determined that the number of times the map is created is less than N, step 303 is performed; otherwise, step 309 is performed.
  • Step 309 It is determined not to update the first map.
  • the terminal may send prompt information while not updating the first map to remind users that the map is invalid and the update fails.
  • the map updating method provided in this embodiment allows the terminal to create a new map for replacing the invalid map according to the image data collected during the positioning process, which further improves the degree of automation of the terminal and the map. Update efficiency ensures the accuracy of terminal positioning.
  • the third embodiment of the present application relates to a map updating device.
  • the map updating device includes an obtaining module 401 and an updating module 402.
  • the obtaining module 401 is configured to obtain indication information of a first map, where the indication information of the first map It is used to indicate the establishment time of the first map, and / or used to indicate the positioning success probability of the first map;
  • the update module 402 is used to compare the indication information of the first map with preset information, and update the first according to the comparison result. map.
  • this embodiment is a device embodiment corresponding to the first embodiment, and this embodiment can be implemented in cooperation with the first embodiment.
  • the related technical details mentioned in the first embodiment are still valid in this embodiment. To reduce repetition, details are not described here. Accordingly, the related technical details mentioned in this embodiment can also be applied in the first embodiment.
  • each module involved in this embodiment is a logic module.
  • a logical unit can be a physical unit or a part of a physical unit. Combined implementation of units.
  • no unit that is not closely related to solving the technical problem proposed by the present invention is introduced, but this does not mean that there are no other units in this embodiment.
  • the map update device further includes an image acquisition module 403 and an image database module 404.
  • the image acquisition module 403 is configured to acquire image data and store the acquired image data in the image database module 404.
  • the fourth embodiment of the present application relates to a terminal, as shown in FIG. 6, including at least one processor 501; and a memory 502 communicatively connected to the at least one processor 501.
  • the memory 502 stores instructions executable by the at least one processor 501, and the instructions are executed by the at least one processor 501, so that the at least one processor 501 can execute the above-mentioned map update method.
  • the processor 501 is a central processing unit (Central Processing Unit (CPU) as an example
  • the memory 502 is a readable and writable memory (Random Access Memory, RAM) as an example.
  • the processor 501 and the memory 502 may be connected through a bus or other methods. In FIG. 6, the connection through the bus is taken as an example.
  • the memory 502 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer executable programs, and modules.
  • the image database is stored in the memory 502 in the embodiment of the present application. .
  • the processor 501 executes various functional applications and data processing of the device by running non-volatile software programs, instructions, and modules stored in the memory 502, that is, the above-mentioned map update method is implemented.
  • the memory 502 may include a storage program area and a storage data area, where the storage program area may store an operating system and an application program required for at least one function; the storage data area may store a list of options and the like.
  • the memory 502 may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device.
  • the memory 502 may optionally include a memory remotely set relative to the processor, and these remote memories may be connected to an external device through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • One or more modules are stored in the memory, and when executed by one or more processors, the map updating method in any of the above method embodiments is executed.
  • a fifth embodiment of the present application relates to a computer-readable storage medium storing a computer program.
  • the computer program is executed by the processor, the map update method described in any of the above method embodiments is implemented.
  • the program is stored in a storage medium and includes several instructions for making a device ( It may be a single-chip microcomputer, a chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes .

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Abstract

提供了一种地图更新方法、装置、终端和计算机可读存储介质。该方法应用于终端或云端，包括以下步骤：获取第一地图的指示信息（101），其中，第一地图的指示信息用于指示第一地图的建立时长，和/或，用于指示第一地图的定位成功概率；将第一地图的指示信息与预设信息比较，根据比较结果，更新第一地图（102）。

Description

一种地图更新方法、装置、终端和计算机可读存储介质 技术领域
本申请涉及计算机视觉领域，尤其涉及一种地图更新方法、装置、终端和计算机可读存储介质。
 背景技术
智能机器人或无人驾驶车辆想要在未知环境中完成一些简单或者复杂功能，就需要知道整个未知环境的地图信息。通过获取未知环境的信息，建立该未知环境的地图，以便智能机器人或者无人驾驶车辆定位。只有成功建图、定位才能为智能机器人的导航以及其他的功能提供保障。目前，建图和定位方法一般是通过人工来采集地图的。由于场景的变化，之前采集的地图可能定位效果变差，定位成功率降低。若使用定位成功率低的地图定位，很容易发生事故。
 技术问题
发明人在研究现有技术过程中发现，为避免上述情况，需要人为判断地图是否有效，并在地图无效的情况下对地图进行更新。该方法更多的依赖于人力，需要人为的判断地图的有效性，也需要人为的更新地图，使得判断地图的有效性的过程中加入了很多人为主观因素。例如，使用者不及时检查地图，导致地图更新不及时，影响定位效果。并且，人力实时维护地图也会造成一定的人力浪费。
可见，如何实现地图的自动更新，是需要解决的问题。
 技术解决方案
本申请部分实施例所要解决的一个技术问题在于如何实现地图的自动更新。
本申请的一个实施例提供了一种地图更新方法，包括：获取第一地图的指示信息，其中，第一地图的指示信息用于指示第一地图的建立时长，和/或，用于指示第一地图的定位成功概率；将第一地图的指示信息与预设信息比较，根据比较结果，更新第一地图。
本申请的一个实施例还提供了一种地图更新装置，其中，包括：获取模块和更新模块；获取模块用于获取第一地图的指示信息，其中，第一地图的指示信息用于指示第一地图的建立时长，和/或，用于指示第一地图的定位成功概率；更新模块用于将第一地图的指示信息与预设信息比较，根据比较结果，更新第一地图。
本申请的一个实施例还提供了一种终端，包括至少一个处理器；以及，与至少一个处理器通信连接的存储器；其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行上述实施例提及的地图更新方法。
本申请的一个实施例还提供了一种计算机可读存储介质，存储有计算机程序，其中，计算机程序被处理器执行时实现上述实施例提及的地图更新方法。
 有益效果
本申请的实施例相对于现有技术而言，将地图的指示信息与预设信息比较，根据比较结果确定地图是否有效，并在发现地图失效时，更新地图，使得终端能够在地图失效时，自动地更新地图，无需人工更新。终端自动更新地图，避免了人力资源的浪费。及时更新地图，保证了终端定位的准确性。
 附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请第一实施例的地图更新方法的流程图；
图2是本申请第二实施例的地图更新方法的流程图；
图3是本申请第二实施例中使用方法2进行地图更新的流程图；
图4是本申请第三实施例的地图更新装置的结构示意图；
图5是本申请第三实施例的另一地图更新装置的结构示意图；
图6是本申请第四实施例的终端的结构示意图。
 本发明的实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请部分实施例进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
本申请的第一实施例涉及一种地图更新方法，应用于终端或云端。终端可以是智能机器人、无人驾驶车辆、盲人导航装置等。云端与终端通信连接，为终端提供用于定位的地图或直接为终端提供定位结果。本实施例以终端为例说明地图更新方法的执行过程，云端执行该地图更新方法的过程可以参考本申请实施例的内容。如图1所示，该地图更新方法包括：
步骤101：获取第一地图的指示信息。
具体地说，第一地图的指示信息用于指示第一地图的建立时长，和/或，用于指示第一地图的定位成功概率。
步骤102：将第一地图的指示信息与预设信息比较，根据比较结果，更新第一地图。
具体实现中，第一地图是通过视觉即时定位和建图（Visual Simultaneous localization and mapping，VSLAM）技术建立的地图。
需要说明的是，实际应用中，第一地图也可以是通过其他技术建立的地图。
以下对根据第一地图的指示信息与预设信息的比较结果，更新第一地图的方法进行举例说明。
具体实现中，第一地图的指示信息为第一地图的建立时长，预设信息为地图的有效时长。终端获取第一地图的建立时长，判断第一地图的建立时长是否大于地图的有效时长，若确定是，更新第一地图。其中，终端确定第一地图的建立时长的方法可以是：获取第一地图的建立时间，根据第一地图的建立时间与当前时间，确定第一地图的建立时长，也可以是其他方法，本实施例不限制终端获取第一地图的建立时长的具体方法。
另一具体实现中，第一地图的指示信息为第一地图的定位成功概率，预设信息为最低定位成功概率。终端获取第一地图的定位成功概率，判断第一地图的定位成功概率是否小于最低定位成功概率，若确定是，更新地图。其中，终端可以根据公式1确定第一地图的定位成功概率。
                    s=Sn/Tn                 （公式1）
其中，s为第一地图的定位成功概率，Sn为定位过程中，定位成功的图像数量，Tn为所有用来定位的图像数量。
需要说明的是，上文提及的地图的有效时长与最低定位成功概率可以根据经验设置。例如，可以将地图的有效时长设置为一个月，最低定位成功概率设置为0.8。
又一具体实现中，第一地图的指示信息为第一地图的建立时长和第一地图的定位成功概率，预设信息为地图的有效时长与最低定位成功概率。终端获取第一地图的建立时长和第一地图的定位成功概率，在确定第一地图的建立时长大于地图的有效时长，且第一地图的定位成功概率小于最低定位成功概率后，更新第一地图。或者，终端获取第一地图的建立时长和第一地图的定位成功概率，在确定第一地图的建立时长大于地图的有效时长，或，第一地图的定位成功概率小于最低定位成功概率后，更新第一地图。
需要说明的是，终端更新地图的方法可以包括但不限于以下两种。
方法A：终端采集用于建立地图的图像数据，基于采集的图像数据，使用VSLAM技术，建立用于更新第一地图的地图。
方法B：终端获取定位过程中采集的图像数据，基于定位过程中采集的图像数据，使用VSLAM技术，建立用于更新第一地图的地图。
与现有技术相比，本实施例中提供的地图更新方法，将地图的指示信息与预设信息比较，根据比较结果确定地图是否有效，并在发现地图失效时，更新地图，使得终端能够在地图失效时，自动地更新地图，无需人工更新。终端自动更新地图，避免了人力资源的浪费。及时更新地图，保证了终端定位的准确性。
本申请的第二实施例涉及一种地图更新方法，本实施例是对第一实施例的进一步细化，具体说明了终端更新第一地图的过程。
需要说明的是，本实施例中，以第一地图的指示信息为第一地图的建立时长和第一地图的定位成功概率为例说明地图更新方法，实际应用中，第一地图的指示信息为其他信息的地图更新方法可参考本实施例。
具体地说，如图2所示，地图更新方法包括以下步骤：
步骤201：获取第一地图的建立时长和第一地图的定位成功概率。
步骤202：判断第一地图的建立时长是否大于地图的有效时长，或，第一地图的定位成功概率是否小于最低定位成功概率。
具体地说，终端若确定第一地图的建立时长大于地图的有效时长，或，第一地图的定位成功概率小于最低定位成功概率，执行步骤203，否则，结束流程。
步骤203：获取图像数据库中的图像数据，根据图像数据库中的图像数据，确定第二地图。
具体地说，图像数据库中存储有定位过程中获取的图像数据。终端在定位过程中，保存视觉传感器采集的图像数据至图像数据库。终端在确定第一地图需要更新后，根据图像数据库中的图像数据，建立用于替换第一地图的第二地图。
以下对终端根据图像数据库中的图像数据，确定第二地图的方法进行举例说明。
方法1：终端从图像数据库中，任意选择一个图像数据，根据该图像数据，建立第三地图。终端对第三地图进行测试，使用第三地图进行定位，判断第三地图的定位成功概率是否大于最低定位成功概率，若确定是，将第三地图作为第二地图，替换第一地图，否则，不更新第一地图。
方法2：终端在一次地图的建立过程中，获取图像数据库中还未被用于建立地图的图像数据，根据获取的图像数据，建立第三地图，确定第三地图的定位成功概率，判断第三地图的定位成功概率是否大于最低定位成功概率，若确定是，将第三地图作为第二地图，停止地图的建立过程；否则，进入下一次的地图的建立过程。
优选的，图像数据库中的图像数据按照获取的先后顺序排列，终端在获取图像数据时，获取图像数据库中还未被用于建立地图的，排在最前面的图像数据。
优选的，终端在地图更新过程中，对本次地图更新过程中建立地图的次数进行监控。当第三地图的定位成功概率不大于最低定位成功概率，且，本次地图更新过程中，建立地图的次数小于N时，重新获取图像数据，并根据重新获取的图像数据重新创建第三地图；当第三地图的定位成功概率不大于最低定位成功概率，且，本次地图更新过程中，建立地图的次数不小于N时，终端结束地图更新流程。其中，N为正整数，例如，N=10。
值得一提的是，在地图更新过程中，对第三地图的定位成功概率进行测试，避免用无效的地图替换第一地图，影响定位准确性。
以下对使用方法2进行地图更新的方法进行细化，如图3所示，使用方法2进行地图更新的方法包括以下步骤：
步骤301：获取第一地图的建立时长和第一地图的定位成功概率。
步骤302：判断第一地图的建立时长是否大于地图的有效时长，或，第一地图的定位成功概率是否小于最低定位成功概率。
具体地说，终端若确定第一地图的建立时长大于地图的有效时长，或，第一地图的定位成功概率小于最低定位成功概率，执行步骤303，否则，执行步骤309。
步骤303：获取图像数据库中还未被用于建立地图的，排在最前面的图像数据。
步骤304：根据该图像数据建立第三地图。
步骤305：测试第三地图的定位成功概率。
步骤306：判断第三地图的定位成功概率是否大于最低定位成功概率。若确定第三地图的定位成功概率大于最低定位成功概率，执行步骤307，否则，执行步骤308。
步骤307：将第三地图作为第二地图，替换第一地图。结束更新流程。
步骤308：判断建立地图的次数是否小于N。若确定建立地图的次数小于N，执行步骤303，否则，执行步骤309。
步骤309：确定不更新第一地图。
需要说明的是，本领域技术人员可以理解，实际应用中，若建立地图的次数不小于N，终端在不更新第一地图的同时，可以发送提示信息，提醒使用者地图失效且更新失败。
与现有技术相比，本实施例中提供的地图更新方法，终端根据定位过程中采集的图像数据，建立用于替换失效的地图的新地图，进一步提高了终端的自动化程度，提高了地图的更新效率，保证了终端定位的准确性。
本申请的第三实施例涉及一种地图更新装置，如图4所示，包括获取模块401和更新模块402；获取模块401用于获取第一地图的指示信息，其中，第一地图的指示信息用于指示第一地图的建立时长，和/或，用于指示第一地图的定位成功概率；更新模块402用于将第一地图的指示信息与预设信息比较，根据比较结果，更新第一地图。
不难发现，本实施例为与第一实施例相对应的装置实施例，本实施例可与第一实施例互相配合实施。第一实施例中提到的相关技术细节在本实施例中依然有效，为了减少重复，这里不再赘述。相应地，本实施例中提到的相关技术细节也可应用在第一实施例中。
值得一提的是，本实施例中所涉及到的各模块均为逻辑模块，在实际应用中，一个逻辑单元可以是一个物理单元，也可以是一个物理单元的一部分，还可以以多个物理单元的组合实现。此外，为了突出本发明的创新部分，本实施方式中并没有将与解决本发明所提出的技术问题关系不太密切的单元引入，但这并不表明本实施方式中不存在其它的单元。
例如，如图5所示，地图更新装置还包括图像采集模块403和图像数据库模块404。其中，图像采集模块403用于采集图像数据，并将采集的图像数据存放于图像数据库模块404。
本申请的第四实施例涉及一种终端，如图6所示，包括至少一个处理器501；以及，与至少一个处理器501通信连接的存储器502。其中，存储器502存储有可被至少一个处理器501执行的指令，指令被至少一个处理器501执行，以使至少一个处理器501能够执行上述地图更新方法。
本实施例中，处理器501以中央处理器（Central Processing Unit，CPU）为例，存储器502以可读写存储器（Random Access Memory，RAM）为例。处理器501、存储器502可以通过总线或者其他方式连接，图6中以通过总线连接为例。存储器502作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中图像数据库就存储于存储器502中。处理器501通过运行存储在存储器502中的非易失性软件程序、指令以及模块，从而执行设备的各种功能应用以及数据处理，即实现上述地图更新方法。
存储器502可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储选项列表等。此外，存储器502可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器502可选包括相对于处理器远程设置的存储器，这些远程存储器可以通过网络连接至外接设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
一个或者多个模块存储在存储器中，当被一个或者多个处理器执行时，执行上述任意方法实施例中的地图更新方法。
上述产品可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果，未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
本申请的第五实施例涉及一种计算机可读存储介质，存储有计算机程序。计算机程序被处理器执行时实现以上任意方法实施例所描述的地图更新方法。
即，本领域技术人员可以理解，实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序存储在一个存储介质中，包括若干指令用以使得一个设备（可以是单片机，芯片等）或处理器（processor）执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、磁碟或者光盘等各种可以存储程序代码的介质。
本领域的普通技术人员可以理解，上述各实施例是实现本申请的具体实施例，而在实际应用中，可以在形式上和细节上对其作各种改变，而不偏离本申请的精神和范围。

Claims (12)

  1. 一种地图更新方法，其中，包括：
    获取第一地图的指示信息，其中，所述第一地图的指示信息用于指示第一地图的建立时长，和/或，用于指示第一地图的定位成功概率；
    将所述第一地图的指示信息与预设信息比较，根据比较结果，更新第一地图。
  2. 根据权利要求1所述的地图更新方法，其中，所述第一地图的指示信息为所述第一地图的建立时长，所述预设信息为地图的有效时长；
    所述将所述第一地图的指示信息与预设信息比较，根据比较结果，更新第一地图，具体包括：
    判断所述第一地图的建立时长是否大于所述地图的有效时长；
    若确定是，更新第一地图。
  3. 根据权利要求1所述的地图更新方法，其中，所述第一地图指示信息为所述第一地图的定位成功概率，所述预设信息为最低定位成功概率；
    所述将所述第一地图的指示信息与预设信息比较，根据比较结果，更新第一地图，具体包括：
    判断所述第一地图的定位成功概率是否小于所述最低定位成功概率；
    若确定是，更新第一地图。
  4. 根据权利要求1所述的地图更新方法，其中，所述第一地图的指示信息为所述第一地图的建立时长和所述第一地图的定位成功概率；所述预设信息包括地图的有效时长和最低定位成功概率；
    所述将所述第一地图的指示信息与预设信息比较，根据比较结果，更新第一地图，具体包括：
    在确定所述第一地图的建立时长大于所述地图的有效时长，且所述第一地图的定位成功概率小于所述最低定位成功概率后，更新第一地图。
  5. 根据权利要求1至4中任一项所述的地图更新方法，其中，所述更新第一地图，具体包括：
    获取所述图像数据库中的图像数据，根据所述图像数据库中的图像数据，确定第二地图；其中，所述图像数据库中存储有定位过程中获取的图像数据；
    根据所述第二地图，更新所述第一地图。
  6. 根据权利要求5所述的地图更新方法，其中，所述获取所述图像数据库中的图像数据，根据所述图像数据库中的图像数据，确定第二地图，具体包括：
    获取所述图像数据库中的图像数据；
    根据所述图像数据库中的图像数据，建立第三地图；
    确定所述第三地图的定位成功概率；
    在确定所述第三地图的定位成功概率大于最低定位成功概率后，将所述第三地图作为所述第二地图。
  7. 根据权利要求5所述的地图更新方法，其中，所述获取所述图像数据库中的图像数据，根据所述图像数据库中的图像数据，确定第二地图，具体包括：
    在一次地图的建立过程中，获取所述图像数据库中还未被用于建立地图的图像数据，根据获取的图像数据，建立第三地图，确定所述第三地图的定位成功概率，判断所述第三地图的定位成功概率是否大于最低定位成功概率，若确定是，将所述第三地图作为所述第二地图，停止地图的建立过程；否则，进入下一次的地图的建立过程。
  8. 根据权利要求7所述的地图更新方法，其中，在进入下一次的地图的建立过程之前，所述地图更新方法还包括：
    确定本次地图更新过程中，建立地图的次数小于N，其中，N为正整数。
  9. 根据权利要求7或8所述的地图更新方法，其中，所述图像数据库中的图像数据按照获取的先后顺序排列；
    所述获取所述图像数据库中还未被用于建立地图的图像数据，具体包括：
    获取所述图像数据库中还未被用于建立地图的，排在最前面的图像数据。
  10. 一种地图更新装置，其中，包括：获取模块和更新模块；
    所述获取模块用于获取第一地图的指示信息，其中，所述第一地图的指示信息用于指示第一地图的建立时长，和/或，用于指示第一地图的定位成功概率；
    所述更新模块用于将所述第一地图的指示信息与预设信息比较，根据比较结果，更新第一地图。
  11. 一种终端，其中，包括至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求1至9任一项所述的地图更新方法。
  12. 一种计算机可读存储介质，存储有计算机程序，其中，所述计算机程序被处理器执行时实现权利要求1至9任一项所述的地图更新方法。
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