WO2020258935A1 - 定位方法及装置、电子设备和存储介质 - Google Patents

定位方法及装置、电子设备和存储介质 Download PDF

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Publication number
WO2020258935A1
WO2020258935A1 PCT/CN2020/080464 CN2020080464W WO2020258935A1 WO 2020258935 A1 WO2020258935 A1 WO 2020258935A1 CN 2020080464 W CN2020080464 W CN 2020080464W WO 2020258935 A1 WO2020258935 A1 WO 2020258935A1
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Prior art keywords
location
information
image
identification
identifier
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PCT/CN2020/080464
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English (en)
French (fr)
Inventor
盛崇山
章国锋
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浙江商汤科技开发有限公司
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Priority to JP2021564294A priority Critical patent/JP7245363B2/ja
Priority to SG11202111941YA priority patent/SG11202111941YA/en
Publication of WO2020258935A1 publication Critical patent/WO2020258935A1/zh
Priority to US17/510,463 priority patent/US12020463B2/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G06V10/225—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition based on a marking or identifier characterising the area
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G06V10/245—Aligning, centring, orientation detection or correction of the image by locating a pattern; Special marks for positioning

Definitions

  • the present disclosure relates to the field of electronic technology, and in particular to a positioning method and device, electronic equipment, and storage medium.
  • positioning technology has brought great convenience to people's daily life. For example, users can determine their current location through positioning technology, and can automatically plan travel routes. At present, when positioning outdoors, GPS (Global Positioning System) is usually used for positioning, and the positioning error is about 10 meters, which can meet the needs of daily life.
  • GPS Global Positioning System
  • the present disclosure proposes a positioning technical solution.
  • a positioning method including:
  • the identification image collected at the first location determine the location information of the first identification based on the identification information of the first identification extracted in the identification image; determine the location information of the first identification based on the location information of the first identification and the first identification Mark the projection information of the marking image, and determine the position information of the first position.
  • the determining the location information of the first logo according to the identification information of the first logo extracted in the logo image includes: determining that the projection of the first logo is on the logo The image area of the image; according to the identification characteristics of the image area, the image area is identified to obtain the identification information of the first identification; according to the pre-established correspondence between identification information and position information, the first The location information corresponding to the identification information of an identification is determined as the location information of the first identification.
  • the location information of the first identifier can be quickly acquired through the pre-established correspondence between the identification information and the location information, thereby improving the positioning efficiency.
  • the method further includes: determining, according to the location information of the first identifier, that the first location is in a location area of the current scene, wherein the first location in the location area The difference between the position information of and the position information of the first identifier is less than a preset value. In this way, the location information of the first identifier can be used to roughly locate the first location, and quickly determine the location area of the user at the first location in the current scene.
  • the determining the location area where the first location is located according to the location information of the first identifier includes: determining the first location based on the location information of the first identifier The floor and floor area where the site is located. In this way, the floor and floor area where the first location is located can be determined according to the location information of the first identification, and the indoor area where the user at the first location is located can be quickly determined.
  • the determining the location information of the first location based on the location information of the first logo and the projection information of the first logo on the logo image includes: The projection information of the first mark on the mark image, determine the relative position information of the first position and the first mark; determine the relative position information of the first mark according to the position information of the first mark and the relative position information The location information of the first point.
  • the relative positional relationship between the first location and the first location can be determined by the projection information of the first logo, and then the accurate location information of the first location indoors can be obtained, and the positioning in the indoor scene can be realized.
  • the determining the relative position information of the first position and the first mark according to the projection information of the first mark on the mark image includes: based on the first mark The orientation information of the logo, establishing the reference coordinate system where the first logo is located; determining the reference coordinates of the first logo in the reference coordinate system; according to the projection information of the first logo on the logo image, Determine the projection coordinates of the first identifier; determine the relative position information of the first location and the first identifier based on the reference coordinates of the first identifier and the projection coordinates.
  • the determining the projection coordinates of the first logo according to the projection information of the first logo on the logo image includes: obtaining the image size and image resolution of the logo image According to the image size and image resolution, determine the image coordinates of the pixels in the logo image; determine the first logo according to the projection information of the first logo in the logo image and the image coordinates of the pixels A projection coordinate of the projection point of the marking on the marking image.
  • the image size and image resolution of the logo image can be used to determine the reference coordinates of multiple reference points and the projection coordinates of the corresponding projection points to obtain the projection coordinates of the first logo.
  • the determining the relative position information of the first position and the first identifier based on the reference coordinates of the first identifier and the projection coordinates includes: acquiring an image acquisition device The device parameters of the; wherein the image acquisition device is used to acquire the identification image; according to the device parameters of the image acquisition device, determine the projection transformation relationship from the reference coordinates of the first identification to the projection coordinates; Based on the projection transformation relationship and the reference coordinates of the first identifier and the projection coordinates, determine the relative position information of the first location and the first identifier.
  • the reference coordinates, projection coordinates, and device parameters of the image acquisition device of the first mark can be used to obtain the accurate pose information of the image acquisition device in the reference coordinate system, that is, the accurate relative position of the image acquisition in the reference coordinate system can be obtained. location information.
  • the determining the location information of the first location based on the location information of the first identifier and the relative location information includes: determining the location information of the first location based on the relative location information The distance and direction of the first position relative to the first mark; the first position is determined according to the position information of the first mark and the distance and direction of the first position relative to the first mark The position information of the point in the current scene coordinate system.
  • the position information of the first marker in the current scene coordinate system is combined with the distance and direction of the first position relative to the first marker to obtain the position information of the first position in the current scene coordinate system, which is realized in the current scene Position the user at the first location.
  • the method further includes: obtaining identification information of a second identifier; determining location information of a second site according to the identification information of the second identifier; The location information and the location information of the second location determine a planned route from the first location to the second location.
  • the identification information of the second identification can be used to plan a recommended route for the current user from the first location to the second location corresponding to the second identification, so as to realize indoor navigation for the user.
  • a positioning device which includes: an acquisition module, configured to acquire an identification image collected at a first location; and a first determination module, configured to acquire a first identification image based on the identification image.
  • the identification information of the identification determines the location information of the first identification; the second determination module is configured to determine the first identification based on the location information of the first identification and the projection information of the first identification on the identification image Location information of a point.
  • the first determining module includes: a first determining sub-module for determining that the first identifier is projected on the image area of the identifier image; and an identifying sub-module for determining The identification feature of the image area is used to identify the image area to obtain the identification information of the first identification; the second determination sub-module is used to compare the identification information and the position information established in advance according to the corresponding relationship The location information corresponding to the identification information of the first identification is determined to be the location information of the first identification.
  • the device further includes: a third determining module, configured to determine the location area of the first location in the current scene according to the location information of the first identifier, wherein the The difference between the position information of the first position in the positioning area and the position information of the first identifier is smaller than a preset value.
  • the third determining module is specifically configured to determine the floor and floor area where the first location is located according to the location information of the first identifier.
  • the second determining module includes: a third determining sub-module, configured to determine the first location and the location of the first location based on the projection information of the first logo on the logo image. The relative position information of the first identifier; a fourth determining sub-module, configured to determine the position information of the first location according to the position information of the first identifier and the relative position information.
  • the third determining submodule is specifically configured to establish a reference coordinate system where the first identifier is located based on the orientation information of the first identifier; The reference coordinates in the reference coordinate system; the projection coordinates of the first logo are determined according to the projection information of the first logo on the logo image; the projection coordinates of the first logo are determined based on the reference coordinates of the first logo and the projection coordinates The relative position information of the first location and the first identifier.
  • the third determining submodule is specifically configured to obtain the image size and image resolution of the logo image; determine the pixels in the logo image according to the image size and image resolution The image coordinates of the point; according to the projection information of the first mark on the mark image and the image coordinates of the pixel point, the projection coordinates of the first mark on the projection point of the mark image are determined.
  • the third determining sub-module is specifically used to obtain device parameters of the image acquisition device; wherein, the image acquisition device is used to collect the identification image; according to the image acquisition device Device parameters, determining the projection transformation relationship from the reference coordinates of the first identifier to the projection coordinates; determining the first transformation relationship based on the projection transformation relationship and the reference coordinates of the first identifier and the projection coordinates Relative position information between the position and the first identifier.
  • the fourth determining submodule is specifically configured to determine the distance and direction of the first position relative to the first identifier according to the relative position information;
  • the position information of a mark and the distance and direction of the first position relative to the first mark determine the position information of the first position in the current scene coordinate system.
  • the device further includes: a route planning module, configured to obtain identification information of the second identifier; determine the location information of the second location according to the identification information of the second identifier; The location information of the first location and the location information of the second location determine a planned route from the first location to the second location.
  • a route planning module configured to obtain identification information of the second identifier; determine the location information of the second location according to the identification information of the second identifier; The location information of the first location and the location information of the second location determine a planned route from the first location to the second location.
  • an electronic device including:
  • a memory for storing processor executable instructions
  • the processor is configured to execute the above positioning method.
  • a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the above positioning method is implemented.
  • a computer program wherein the computer program includes computer-readable code, and when the computer-readable code runs in an electronic device, a processor in the electronic device executes To realize the above positioning method.
  • the identification image collected at the first location can be acquired, and then the location information of the first identification can be determined according to the identification information of the first identification extracted in the identification image, so that the location information of the first identification can be determined according to the location of the first identification.
  • Information determine the indoor area where the first location is located, and perform rough positioning of the first location.
  • the position information of the first location can be determined based on the location information of the first logo and the projection information of the first logo in the logo image, so that the first location can be accurately located. In this way, it is possible to quickly and accurately locate the location of the first location through the first signs existing near the first location, such as house numbers, parking space codes, store plaques, etc., with simple positioning methods and saving resources .
  • Fig. 1 shows a flowchart of a positioning method according to an embodiment of the present disclosure.
  • Fig. 2 shows a flowchart of determining the location information of the first identifier according to an embodiment of the present disclosure.
  • Fig. 3 shows a flowchart of determining the position information of the first location according to an embodiment of the present disclosure.
  • Fig. 4 shows a flowchart of determining relative position information of a first location according to an embodiment of the present disclosure.
  • Fig. 5 shows a block diagram of an example of a reference coordinate system according to an embodiment of the present disclosure.
  • Fig. 6 shows a flowchart of a process of navigating a user according to an embodiment of the present disclosure.
  • Fig. 7 shows a block diagram of a positioning device according to an embodiment of the present disclosure.
  • Fig. 8 shows a block diagram of an example of an electronic device according to an embodiment of the present disclosure.
  • Fig. 9 shows a block diagram of an example of an electronic device according to an embodiment of the present disclosure.
  • the positioning solution provided by the embodiment of the present disclosure can determine the location information of the first identifier based on the identification information of the first identifier extracted from the identifier image by acquiring the identification image collected at the first location. Therefore, the first location can be roughly located according to the location information of the first identifier, for example, the approximate location of the first location on the indoor floor, area, etc. can be determined. Then, the position information of the first location can be determined according to the determined location information of the first logo and the projection information of the first logo in the logo image, so that the first location can be accurately located.
  • the positioning solution provided by the embodiments of the present disclosure does not need to scan indoor positioning scenes in advance, and does not need to pre-deploy related devices for positioning, for example, does not need to deploy related devices for positioning such as Bluetooth devices and hotspot devices, which can reduce the cost of positioning. And, the positioning method is simple, and the application is flexible and convenient.
  • vision-based positioning schemes usually need to collect images to be positioned in a positioning scene, which can be collected with mobile phones or other devices, and the current position can be determined by using the correspondence between the image to be positioned and a pre-built map.
  • this method requires light sensitivity and requires the light intensity of the positioning scene to remain unchanged as much as possible.
  • Another visual positioning solution can be based on a deep learning neural network, which uses pre-collected environmental information of the scene to be positioned to train the neural network to determine the current position. This method is restricted by the lighting conditions and the positioning scene. If the positioning scene changes, the neural network needs to be retrained, and the collection and marking of environmental information during the training process is more complicated. Therefore, the visual positioning scheme requires high requirements for the collected images to be positioned, and it is difficult to ensure the high definition of the image during movement, and it is impossible to distinguish two different positionings of the same scene.
  • Some related technologies also have positioning solutions based on Bluetooth technology and hotspot technology. These positioning methods need to be transformed to the positioning scenes, and corresponding Bluetooth devices and hotspot devices are deployed. When the positioning is not performed, these Bluetooth devices and hotspot devices will be idle, which will cause waste.
  • the positioning solution provided by the embodiments of the present disclosure does not need to collect images with rich features in the positioning scene, has low requirements on the positioning scene, and the positioning method is flexible and convenient.
  • the positioning solution provided by the embodiments of the present disclosure can be applied to indoor or outdoor positioning, navigation, etc., as well as in extended scenarios.
  • the first location can be located using the existing logo in the current shopping mall or conference venue to reduce
  • the cost of positioning for example, can use billboards in pedestrian streets, residential areas and other scenes for navigation.
  • the present disclosure does not limit specific application scenarios.
  • Fig. 1 shows a flowchart of a positioning method according to an embodiment of the present disclosure.
  • the positioning method can be executed by a terminal device, a server, or other information processing equipment.
  • the terminal device can be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, or a personal digital processing (Personal Digital Processing Unit).
  • UE user equipment
  • PDA Personal Digital Assistant
  • handheld devices computing devices
  • vehicle-mounted devices wearable devices
  • the positioning method may be implemented by a processor calling computer-readable instructions stored in the memory. The following describes the positioning solution of the embodiment of the present disclosure by taking the terminal as the execution subject as an example.
  • the positioning method includes the following steps:
  • Step S11 Obtain the identification image collected at the first position.
  • the terminal may obtain the identification image collected by the image acquisition device at the first location, or the terminal may have an image collection function, and directly collect the image at the first location to obtain the identification image.
  • the first location may be the location to be located.
  • the first location may be the location where the user is currently located, or may be a destination point designated by the user.
  • the image acquisition device may collect the image of the first mark in the surrounding scene of the first position to obtain the mark image.
  • the logo image may include the image of the first logo.
  • the first identification can be a landmark that serves as an identification in the scene where the first location is located.
  • the terminal may obtain the identification image collected for the first identification in the scene where the first location is located.
  • the scene where the first location is located may be an indoor scene.
  • the scene where the first location is located may also be an outdoor scene, for example, a pedestrian street, a residential area, or other outdoor scenes with the first identifier.
  • Step S12 According to the identification information of the first identification extracted from the identification image, the location information of the first identification is determined.
  • the terminal may recognize the image of the first logo in the logo image, extract the identification information of the first logo, and then determine the location information of the first logo according to the identification information of the first logo.
  • the identification information of the first identification may be character information, two-dimensional code information, image feature information, and other information that characterizes the identification feature of the first identification.
  • the position information of the first identifier may include position information of the first identifier in the current scene, coordinate system information, and the like.
  • the position information may be the coordinate information of the first identifier in the world coordinate system, that is, it may be the longitude and latitude coordinate information of the first identifier; or, the position information may also be the coordinate information of the first identifier in the current scene coordinate system. That is, it may be the first identifier and the coordinate information in the current scene coordinate system.
  • the correspondence between the identification information and the location information may be established in advance. For example, before the identification image is obtained, the identification information and location information of the first identification may be determined, and then the correspondence between the identification information and the location information may be established.
  • the plan view of the scene where the first identifier is located may be acquired first, and then the reference coordinate system of the scene is established based on the acquired plan view, and then the position of the first identifier in the plan view The information and the identification information of the first identification establish the correspondence between the identification information and the location information.
  • the location information of the first sign of each floor is determined, and then the corresponding relationship between the sign information corresponding to the first sign and the floor and location where the first sign is located is established.
  • the first identifier may be one or more.
  • the location area of the first location in the current scene can be determined, where the location information of the first location in the location area and the location information of the first identifier
  • the difference is less than the preset value.
  • the first position and the first mark are in the same area, so that the position information of the first mark is used to coarsely locate the first position to determine the positioning area of the first position in the current scene. Since the first position and the first mark are in the same area, the distance between the first position and the first mark in the positioning area is less than the preset value, that is, the position information of the first position in the positioning area is less than the The difference of the position information of a mark is smaller than the preset value. For example, a certain area near the first mark may be determined as the positioning area where the first location is located, for example, an area within 5 m from the first mark may be determined as the positioning area where the first location is located.
  • the location information of the first identifier may include floor information, so that the floor and floor area where the first location is located can be determined according to the location information of the first identifier.
  • the location information of the first sign indicates that the floor where the first sign is located is the second floor, and the floor area is the middle area, so it can be determined that the floor where the first point is located can also be the second floor, and the corresponding floor area can also be the middle area. . In this way, rough positioning of the first location can be achieved, and the indoor or outdoor area where the first location is located can be quickly determined.
  • Step S13 Determine the location information of the first location based on the location information of the first logo and the projection information of the first logo on the logo image.
  • the image of the first logo in the logo image can be recognized, and the projection information of the first logo in the logo image can be determined.
  • the projection information here may include a projection point and a projection position, where the projection point may be a pixel point representing the first identifier in the logo image, and the projection position may be an image position of the projection point in the logo image. Then, according to the projection information of the first mark on the mark image, determine the relative position relationship between the image acquisition device and the first mark, and then according to the relative position relationship between the image acquisition device and the first mark and the position information of the first mark, The location of the image acquisition device can be determined, that is, the location information of the first location can be determined.
  • the first location may be a location in an indoor scene, and determining the location information of the first location may be determining location information of the first location in the indoor scene. In this way, on the basis of coarse positioning of the first position, precise positioning of the first position can be performed to realize positioning in an indoor scene or in the presence of occlusion.
  • the above-mentioned positioning solution provided by the embodiments of the present disclosure can locate the first position through the first identifier in the application scenario, and the positioning method is simple and efficient.
  • first identifiers such as identifiers and codes.
  • step S12 the location information of the first identifier can be determined according to the identification information of the first identifier.
  • the embodiment of the present disclosure also provides a possible implementation of this step. This step will be described below with reference to the accompanying drawings.
  • Fig. 2 shows a flowchart of determining the location information of the first identifier according to an embodiment of the present disclosure.
  • the above step S12 may include the following steps:
  • S121 Determine that the first logo is projected on the image area of the logo image
  • S122 Perform identification identification on the image area according to the identification feature of the image area to obtain identification information of the first identification
  • S123 Determine the location information corresponding to the identification information of the first identification as the location information of the first identification according to the pre-established correspondence between identification information and location information.
  • the terminal can first perform grayscale processing on the collected logo image, convert the logo image into a grayscale image, and then, according to the grayscale value of the grayscale image, can obtain the projection contour of the first logo , Thereby determining the image area of the first logo projected in the logo image. Then the identification feature extraction can be performed on the determined image area to obtain the identification feature of the image area, and the obtained identification feature can be matched with the pre-stored reference identification feature, the reference identification matching the first identification can be determined, and then the first identification can be obtained.
  • the identification information corresponding to the reference identification matching the identification, and the identification information may be determined as identification information of the first identification.
  • the location information corresponding to the identification information of the first identification can be searched for the location information corresponding to the identification information of the first identification according to the pre-established correspondence between identification information and location information, and the location information found can indicate the location of the first identification ,
  • the location information can be used as the location information of the first identifier, so that the location information of the first identifier can be quickly obtained, and the positioning efficiency is improved.
  • the projection of the first logo can be understood as a projection image corresponding to the first logo in the logo image.
  • the reference identifier may be an identifier pre-stored with identification information and location information.
  • the terminal may pre-store the identification information and location information of the reference identification, so that the location information of the first identification can be determined by the identification information of the reference identification that matches the identification information of the first identification.
  • the identification image can also be preprocessed, for example, the identification image can be preprocessed such as noise reduction, scaling, and orientation correction, so as to better determine The image area where the projection of the first mark is located can better extract the identification features of the graph area.
  • the image area when the image area is identified based on the identification characteristics of the image area, the image area can be divided into multiple identification areas, for example, the first identification is "hello", and the first identification can be projected on the image area. Divide according to a single character, that is, determine the image area where each letter in "hello" is located as an identification area, and then perform identification feature extraction on multiple identification areas. According to the identification features extracted in multiple identification areas, The identification information of the first identification can be obtained by combining. In this way, the accuracy of identification recognition can be improved, and the situation of recognizing two adjacent characters as the same character can be reduced.
  • the identification features of the multiple identification areas after the image area is divided into multiple identification areas, the identification features of the multiple identification areas can be extracted at the same time, that is, multiple identification areas in the image area can be identified and identified in parallel, so that Improve the efficiency of logo recognition.
  • the location information of the first location may be determined based on the location information of the first logo and the projection information of the first logo on the logo image.
  • the embodiment of the present disclosure also provides A possible implementation of the steps is described below in conjunction with the drawings.
  • Fig. 3 shows a flowchart of determining the position information of the first location according to an embodiment of the present disclosure.
  • the above step S13 may include the following steps:
  • Step S131 Determine the relative position information of the first position and the first mark according to the projection information of the first mark on the mark image
  • Step S132 Determine the position information of the first location according to the position information of the first identifier and the relative position information.
  • the projection information of the first logo in the logo image may include the projection point of the first logo in the logo image and the image position of the projection point in the logo image.
  • the first mark in the current scene can be projected to the plane where the mark image is located.
  • the projection information of the first mark on the mark image determines the relative position information of the first position and the first mark.
  • the relative position information here can be understood as taking the first mark as the reference datum, and the position information of the first position in the reference coordinate system where the first mark is located.
  • the relative position information may be the coordinate information of the first position in the reference coordinate system.
  • the position information of the first marker and the relative position information can be combined to determine the position information of the first position in the current scene.
  • the position information of the first position can be It is the coordinate information in the world coordinate system, or the coordinate information in the current scene coordinate system.
  • the position information of the first point and the position information of the first mark are in the same coordinate system.
  • the current scene can be an indoor scene . In this way, the accurate indoor location information of the first location can be obtained through the projection information of the first identifier and the location information of the first identifier, so as to achieve positioning in an indoor scene.
  • the first identifier when determining the position information of the first identifier according to the position information of the first identifier and the relative position information, the first identifier may be determined first according to the relative position information. The distance and direction of a point relative to the first identifier, and then the first identifier is determined according to the position information of the first identifier and the distance and direction of the first point relative to the first identifier Position information in the current scene coordinate system.
  • the relative position information may be the position information of the first position in the reference coordinate system, so that the relative position of the first position can be determined according to the relative position information of the first position and the reference coordinates of the first identifier in the reference coordinate system. Based on the distance and direction of the first marker, and then combine the position information of the first marker in the current scene coordinate system with the distance and direction of the first position relative to the first marker, you can get the first position in the current scene coordinate system Location information under.
  • Fig. 4 shows a flowchart of determining relative position information of a first location according to an embodiment of the present disclosure.
  • the embodiment of the present disclosure also provides a possible implementation of the foregoing step S131, and the foregoing S131 may include the following steps:
  • Step S1311 based on the orientation information of the first identifier, establish a reference coordinate system where the first identifier is located;
  • Step S1312 Determine the reference coordinates of the first identifier in the reference coordinate system
  • Step S1313 Determine the projection coordinates of the first mark according to the projection information of the first mark on the mark image
  • Step S1314 Determine the relative position information of the first location and the first identifier based on the reference coordinates of the first identifier and the projection coordinates.
  • the orientation information of the first identification can be obtained, and the orientation information of the first identification can be the normal direction of the plane where the first identification is located, so that the location of the first identification can be established according to the orientation information of the first identification.
  • the Z-axis direction of the reference coordinate system may be consistent with the orientation information of the first identifier.
  • Fig. 5 shows a block diagram of an example of a reference coordinate system according to an embodiment of the present disclosure.
  • the vertex at the lower left corner of the first logo can be used as the origin
  • the normal direction of the plane where the first logo is located is the Z-axis direction
  • the length of the first logo is the X-axis
  • the width of the first logo is the Y-axis.
  • the image size and image resolution of the logo image can be acquired, and the image Size and image resolution, determine the image coordinates of the pixels in the logo image, and determine that the first logo is in the image coordinates according to the projection information of the first logo on the logo image and the image coordinates of the pixel. Identifies the projection coordinates of the projection point of the image.
  • the image coordinates can be established in the logo image.
  • the image coordinates can be established with the center of the logo image as the origin, the length direction of the logo image as the X axis, and the width direction as the Y axis.
  • the pixel size of one or more pixels of the logo image can be determined according to the graphic size and image resolution of the logo image, and the pixel size of different pixels can be the same.
  • the pixel size of multiple pixels and the graphic size of the logo image can be combined to determine the image coordinates of the pixel.
  • the projection coordinates of the projection points of the multiple reference points of the first mark in the mark image can be determined.
  • the device parameters of the image acquisition device may be acquired, and then According to the device parameters of the image acquisition device, determine the projection transformation relationship from the reference coordinates of the first identifier to the projection coordinates, and then determine the projection transformation relationship based on the projection transformation relationship and the reference coordinates of the first identifier and the The projection coordinates determine the relative position information of the first position and the first mark.
  • the image acquisition device is used to acquire the identification image.
  • the reference coordinates of the first identifier may be converted into the projection coordinates of the identifier image through a certain transformation relationship, and the transformation relationship may be related to device parameters and pose information of the image acquisition device.
  • the device parameters may include internal parameters such as focal length, resolution, and field of view.
  • the pose information can include position information and posture information.
  • the device parameters of the image acquisition device can determine the projection transformation relationship of the reference coordinates of the first logo into projection coordinates.
  • the projection transformation relationship can be expressed as a projection matrix
  • the pose information of the image acquisition device can determine that the reference coordinates of the first logo are transformed into projection
  • the pose transformation relationship of the coordinates, the pose transformation relationship can be expressed as a pose matrix.
  • the reference coordinates of the first logo can be converted into projection coordinates, and the reference coordinates of the first logo can be converted
  • the transformation relationship for the projection coordinates can be determined by the projection matrix and the pose matrix.
  • the reference coordinates and projection coordinates of the first mark are both known quantities
  • the device parameters of the image acquisition device are known quantities
  • the pose information is an unknown quantity, so that the reference coordinates, projection coordinates, and image acquisition
  • the device parameters of the device determine the pose information of the image acquisition device in the reference coordinate system, that is, the relative position information of the image acquisition in the reference coordinate system can be obtained.
  • the relative position information can be combined with the position information of the first identifier to determine the position information of the image acquisition device, that is, the position information of the first position ( The image capture device is located at the first location).
  • the length and width of the first identifier are width and height, respectively.
  • the length and width correspond to the X-axis and Y-axis, respectively.
  • the projection coordinates of the projection points corresponding to A, B, C, and D are Sa, Sb, Sc, Sd, respectively.
  • the projection matrix corresponding to the device parameters of the image acquisition device is P
  • the pose matrix corresponding to the pose information of the image acquisition device in the reference coordinate system may be M. According to the transformation relationship from the image coordinates of the first mark to the reference coordinates, the following formula can be obtained:
  • the positioning solution provided by the embodiment of the present disclosure can determine the position information of the first location based on the identification information extracted from the identification image.
  • the positioning solution can be used to navigate the user. The following describes the process of navigating for users with an example.
  • Fig. 6 shows a flowchart of a process of navigating a user according to an embodiment of the present disclosure.
  • Step S21 acquiring identification information of the second identification
  • Step S22 Determine the location information of the second location according to the identification information of the second identifier
  • Step S23 Determine a recommended route from the first location to the second location based on the location information of the first location and the location information of the second location.
  • the identification information of the second identification may be identification information input by the user, or the identification information of the second identification may be extracted from an image input by the user.
  • the terminal may determine the location information corresponding to the second identification according to the pre-established correspondence between identification information and location information.
  • the location information corresponding to the second identification can be used as the location information of the second location, or the location of the second location can be determined according to the location information of the second identification using the same positioning method as that of the first location. information.
  • the user may be located at the first place indoors, the first place may be the starting point, and the second place may be the target point where the user wants to reach the indoor.
  • the terminal can collect the logo image of the first logo at the first location under the operation of the user, obtain the logo information of the first logo in the logo graphic, and determine the location information of the starting point according to the logo information of the first logo.
  • the terminal can obtain the identification information of the second identification entered by the user, and then determine the location information of the target point according to the identification information of the second identification, and then determine the route from the starting point to the target point according to the location information of the starting point and the location information of the target point. Plan and get a recommended route.
  • the user may be located at the third place indoors, the third place may be the starting point, and the second place may be the target point where the user wishes to reach the indoor.
  • the terminal may determine the location information of the third location through the identification information of the third identification input by the user, or may acquire the identification information of the third identification through the image of the third identification collected at the third location, and according to the acquired third identification information.
  • the identified identification information determines the location information of the third position.
  • the user may pass through the first position, or the user deviates from the original planned route and passes through the first position. Therefore, the identification image collected at the first location can be used to adjust and plan the current travel route, and determine the planned route from the first location to the second location.
  • the present disclosure also provides positioning devices, electronic equipment, computer-readable storage media, and programs, all of which can be used to implement any positioning method provided in the present disclosure.
  • positioning devices electronic equipment, computer-readable storage media, and programs, all of which can be used to implement any positioning method provided in the present disclosure.
  • the writing order of the steps does not mean a strict execution order but constitutes any limitation on the implementation process.
  • the specific execution order of each step should be based on its function and possibility.
  • the inner logic is determined.
  • FIG. 7 shows a block diagram of a positioning device according to an embodiment of the present disclosure. As shown in FIG. 7, the positioning device includes:
  • the obtaining module 71 is used to obtain the identification image collected at the first position
  • the first determining module 72 is configured to determine the location information of the first identifier according to the identifier information of the first identifier extracted in the identifier image;
  • the second determining module 73 is configured to determine the location information of the first location based on the location information of the first logo and the projection information of the first logo on the logo image.
  • the first determining module 72 includes:
  • a first determining sub-module configured to determine that the first logo is projected on the image area of the logo image
  • An identification sub-module configured to perform identification identification on the image area according to the identification characteristics of the image area to obtain identification information of the first identification
  • the second determining sub-module is configured to determine the location information corresponding to the identification information of the first identification as the location information of the first identification according to the pre-established correspondence between identification information and location information.
  • the device further includes:
  • the third determining module is configured to determine the location area of the first location in the current scene according to the location information of the first identifier, wherein the location information of the first location in the location area is the same as that of the first location.
  • the difference of the identified position information is less than the preset value.
  • the third determining module is specifically configured to determine the floor and floor area where the first location is located according to the location information of the first identifier.
  • the second determining module 73 includes:
  • the third determining sub-module is configured to determine the relative position information of the first position and the first mark according to the projection information of the first mark on the mark image;
  • the fourth determining sub-module is configured to determine the position information of the first location according to the position information of the first identifier and the relative position information.
  • the third determining submodule is specifically configured to:
  • the third determining submodule is specifically configured to:
  • the projection coordinates of the first logo on the projection point of the logo image are determined.
  • the third determining submodule is specifically configured to:
  • the fourth determining submodule is specifically configured to:
  • the position information of the first position in the current scene coordinate system is determined.
  • the device further includes: a route planning module for:
  • a planned route from the first location to the second location is determined.
  • the functions or modules contained in the device provided in the embodiments of the present disclosure can be used to execute the methods described in the above method embodiments.
  • the functions or modules contained in the device provided in the embodiments of the present disclosure can be used to execute the methods described in the above method embodiments.
  • the embodiments of the present disclosure also provide a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions implement the above-mentioned method when executed by a processor.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium.
  • An embodiment of the present disclosure also provides a computer program, wherein the computer program includes computer-readable code, and when the computer-readable code runs in an electronic device, the processor in the electronic device executes the above Positioning method.
  • An embodiment of the present disclosure also provides an electronic device, including: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured as the above method.
  • the electronic device can be provided as a terminal, server or other form of device.
  • Fig. 8 is a block diagram showing an electronic device 800 according to an exemplary embodiment.
  • the electronic device 800 may be a mobile phone, a computer, a digital broadcasting terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and other terminals.
  • the electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, and a sensor component 814 , And communication component 816.
  • the processing component 802 generally controls the overall operations of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • the processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the foregoing method.
  • the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components.
  • the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.
  • the memory 804 is configured to store various types of data to support operations in the electronic device 800. Examples of these data include instructions for any application or method operated on the electronic device 800, contact data, phone book data, messages, pictures, videos, etc.
  • the memory 804 can be implemented by any type of volatile or nonvolatile 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, Magnetic Disk or Optical Disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM erasable Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Magnetic Disk Magnetic Disk or Optical Disk.
  • the power supply component 806 provides power for various components of the electronic device 800.
  • the power supply component 806 may include a power management system, one or more power supplies, and other components associated with the generation, management, and distribution of power for the electronic device 800.
  • the multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user.
  • the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure related to the touch or slide operation.
  • the multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 810 is configured to output and/or input audio signals.
  • the audio component 810 includes a microphone (MIC).
  • the microphone is configured to receive external audio signals.
  • the received audio signal may be further stored in the memory 804 or transmitted via the communication component 816.
  • the audio component 810 further includes a speaker for outputting audio signals.
  • the I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module.
  • the peripheral interface module may be a keyboard, a click wheel, a button, and the like. These buttons may include but are not limited to: home button, volume button, start button, and lock button.
  • the sensor component 814 includes one or more sensors for providing the electronic device 800 with various aspects of state evaluation.
  • the sensor component 814 can detect the on/off status of the electronic device 800 and the relative positioning of the components.
  • the component is the display and the keypad of the electronic device 800.
  • the sensor component 814 can also detect the electronic device 800 or the electronic device 800.
  • the position of the component changes, the presence or absence of contact between the user and the electronic device 800, the orientation or acceleration/deceleration of the electronic device 800, and the temperature change of the electronic device 800.
  • the sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects when there is no physical contact.
  • the sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.
  • the communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices.
  • the electronic device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof.
  • the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication.
  • 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.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the electronic device 800 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field A programmable gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
  • ASIC application specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing devices
  • PLD programmable logic devices
  • FPGA field A programmable gate array
  • controller microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
  • a non-volatile computer-readable storage medium such as the memory 804 including computer program instructions, which can be executed by the processor 820 of the electronic device 800 to complete the foregoing method.
  • Fig. 9 is a block diagram showing an electronic device 1900 according to an exemplary embodiment.
  • the electronic device 1900 may be provided as a server.
  • the electronic device 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by the memory 1932, for storing instructions executable by the processing component 1922, such as application programs.
  • the application program stored in the memory 1932 may include one or more modules each corresponding to a set of instructions.
  • the processing component 1922 is configured to execute instructions to perform the aforementioned methods.
  • the electronic device 1900 may also include a power supply component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input output (I/O) interface 1958 .
  • the electronic device 1900 can operate based on an operating system stored in the memory 1932, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or the like.
  • a non-volatile computer-readable storage medium such as the memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the electronic device 1900 to complete the foregoing method.
  • the present disclosure may be a system, method, and/or computer program product.
  • the computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for enabling a processor to implement various aspects of the present disclosure.
  • the computer-readable storage medium may be a tangible device that can hold and store instructions used by the instruction execution device.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a printer with instructions stored thereon
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • flash memory flash memory
  • SRAM static random access memory
  • CD-ROM compact disk read-only memory
  • DVD digital versatile disk
  • memory stick floppy disk
  • mechanical encoding device such as a printer with instructions stored thereon
  • the computer-readable storage medium used herein is not interpreted as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (for example, light pulses through fiber optic cables), or through wires Transmission of electrical signals.
  • the computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and/or a wireless network.
  • the network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • the network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network, and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device .
  • the computer program instructions used to perform the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, status setting data, or in one or more programming languages.
  • Source code or object code written in any combination, the programming language includes object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as "C" language or similar programming languages.
  • Computer-readable program instructions can be executed entirely on the user's computer, partly on the user's computer, executed as a stand-alone software package, partly on the user's computer and partly executed on a remote computer, or entirely on the remote computer or server carried out.
  • the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to access connection).
  • LAN local area network
  • WAN wide area network
  • an electronic circuit such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by using the status information of the computer-readable program instructions.
  • the computer-readable program instructions are executed to realize various aspects of the present disclosure.
  • These computer-readable program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine such that when these instructions are executed by the processor of the computer or other programmable data processing device , A device that implements the functions/actions specified in one or more blocks in the flowchart and/or block diagram is produced. It is also possible to store these computer-readable program instructions in a computer-readable storage medium. These instructions make computers, programmable data processing apparatuses, and/or other devices work in a specific manner, so that the computer-readable medium storing instructions includes An article of manufacture, which includes instructions for implementing various aspects of the functions/actions specified in one or more blocks in the flowchart and/or block diagram.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of an instruction, and the module, program segment, or part of an instruction contains one or more functions for implementing the specified logical function.
  • Executable instructions may also occur in a different order from the order marked in the drawings. For example, two consecutive blocks can actually be executed in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions.

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Abstract

本公开涉及一种定位方法及装置、电子设备和存储介质，所述方法包括：获取在第一位点采集的标识图像；根据在所述标识图像提取的第一标识的标识信息，确定所述第一标识的位置信息；基于所述第一标识的位置信息和所述第一标识在所述标识图像的投影信息，确定所述第一位点的位置信息。

Description

定位方法及装置、电子设备和存储介质
本公开要求在2019年6月27日提交中国专利局、申请号为201910568726.8、申请名称为“定位方法及装置、电子设备和存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及电子技术领域，尤其涉及一种定位方法及装置、电子设备和存储介质。
背景技术
随着电子技术的发展，定位技术给人们的日常生活带来了极大的便利，例如，用户可以通过定位技术确定当前所在的位置，并且可以自动规划出行路线等。目前，在室外进行定位时通常采用全球定位系统(Global Positioning System，GPS)进行定位，其定位的误差在10米左右，可以满足日常生活的需求。
发明内容
本公开提出了一种定位技术方案。
根据本公开的一方面，提供了一种定位方法，包括：
获取在第一位点采集的标识图像；根据在所述标识图像提取的第一标识的标识信息，确定所述第一标识的位置信息；基于所述第一标识的位置信息和所述第一标识在所述标识图像的投影信息，确定所述第一位点的位置信息。
在一种可能的实现方式中，所述根据在所述标识图像提取的第一标识的标识信息，确定所述第一标识的位置信息，包括：确定所述第一标识的投影在所述标识图像的图像区域；根据所述图像区域的标识特征，对所述图像区域进行标识识别，得到所述第一标识的标识信息；根据预先建立的标识信息与位置信息的对应关系，将所述第一标识的标识信息对应的位置信息确定为所述第一标识的位置信息。
这样，可以通过预先建立的标识信息与位置信息的对应关系，快速地获取第一标识的位置信息，提高定位效率。
在一种可能的实现方式中，所述方法还包括：根据所述第一标识的位置信息，确定所述第一位点在当前场景的定位区域，其中，所述定位区域中第一位点的位置信息与所述第一标识的位置信息的差值小于预设值。这样，可以利用第一标识的位置信息，对第一位点进行粗定位，快速确定在第一位点的用户在当前场景的定位区域。
在一种可能的实现方式中，所述根据所述第一标识的位置信息，确定所述第一位点所在的定位区域，包括：根据所述第一标识的位置信息，确定所述第一位点所在的楼层以及楼层区域。这样，可以根据第一标识的位置信息确定第一位点所在的楼层以及楼层区域，快速地确定第一位点的用户所在的室内区域。
在一种可能的实现方式中，所述基于所述第一标识的位置信息和所述第一标识在所述标识图像的投影信息，确定所述第一位点的位置信息，包括：根据所述第一标识在所述标识图像的投影信息，确定所述第一位点与所述第一标识的相对位置信息；根据所述第一标识的位置信息以及所述相对位置信 息，确定所述第一位点的位置信息。
这样，可以通过第一标识的投影信息确定第一位点与第一标识的相对位置关系，进而可以得到第一位点在室内的精确的位置信息，实现在室内场景下的定位。
在一种可能的实现方式中，所述根据所述第一标识在所述标识图像的投影信息，确定所述第一位点与所述第一标识的相对位置信息，包括：基于所述第一标识的朝向信息，建立所述第一标识所在的参考坐标系；确定所述第一标识在所述参考坐标系下的参考坐标；根据所述第一标识在所述标识图像的投影信息，确定所述第一标识的投影坐标；基于所述第一标识的参考坐标以及所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。这样，可以根据多个参考点的参考坐标以及对应的投影点的投影坐标，得到较为准确的第一位点的与第一标识的相对位置关系。
在一种可能的实现方式中，所述根据所述第一标识在所述标识图像的投影信息，确定所述第一标识的投影坐标，包括：获取所述标识图像的图像尺寸以及图像分辨率；根据所述图像尺寸以及图像分辨率，确定所述标识图像中像素点的图像坐标；根据所述第一标识在所述标识图像的投影信息以及所述像素点的图像坐标，确定所述第一标识在所述标识图像的投影点的投影坐标。
这样，可以利用标识图像的图像尺寸及图像分辨率，确定多个参考点的参考坐标以及对应的投影点的投影坐标，得到第一标识的投影坐标。
在一种可能的实现方式中，所述基于所述第一标识的参考坐标以及所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息，包括：获取图像采集装置的装置参数；其中，所述图像采集装置用于采集所述标识图像；根据所述图像采集装置的装置参数，确定由所述第一标识的参考坐标转换为所述投影坐标的投影变换关系；基于所述投影变换关系以及所述第一标识的参考坐标和所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。
这样，可以利用第一标识的参考坐标、投影坐标、图像采集装置的装置参数，得到图像采集装置在参考坐标系下准确的位姿信息，即可以得到图像采集在参考坐标系下的准确的相对位置信息。
在一种可能的实现方式中，所述根据所述第一标识的位置信息以及所述相对位置信息，确定所述第一位点的位置信息，包括：根据所述相对位置信息，确定所述第一位点相对于所述第一标识的距离和方向；根据所述第一标识的位置信息以及所述第一位点相对于所述第一标识的距离和方向，确定所述第一位点在当前场景坐标系下的位置信息。
这样，将第一标识在当前场景坐标系下的位置信息结合第一位点相对于第一标识的距离和方向，得到第一位点在当前场景坐标系下的位置信息，实现在当前场景中对第一位点的用户进行定位。
在一种可能的实现方式中，所述方法还包括：获取第二标识的标识信息；根据所述第二标识的标识信息，确定第二位点的位置信息；根据所述第一位点的位置信息和所述第二位点的位置信息，确定由所述第一位点到达所述第二位点的规划路线。
这样，可以利用第二标识的标识信息，为当前用户规划由第一位点到达第二标识对应的第二位点的推荐路线，实现在室内为用户导航。
根据本公开的另一方面，提供了一种定位装置，包括：获取模块，用于获取在第一位点采集的标 识图像；第一确定模块，用于根据在所述标识图像提取的第一标识的标识信息，确定所述第一标识的位置信息；第二确定模块，用于基于所述第一标识的位置信息和所述第一标识在所述标识图像的投影信息，确定所述第一位点的位置信息。
在一种可能的实现方式中，所述第一确定模块，包括：第一确定子模块，用于确定所述第一标识的投影在所述标识图像的图像区域；识别子模块，用于根据所述图像区域的标识特征，对所述图像区域进行标识识别，得到所述第一标识的标识信息；第二确定子模块，用于根据预先建立的标识信息与位置信息的对应关系，将所述第一标识的标识信息对应的位置信息确定为所述第一标识的位置信息。
在一种可能的实现方式中，所述装置还包括：第三确定模块，用于根据所述第一标识的位置信息，确定所述第一位点在当前场景的定位区域，其中，所述定位区域中第一位点的位置信息与所述第一标识的位置信息的差值小于预设值。
在一种可能的实现方式中，所述第三确定模块，具体用于根据所述第一标识的位置信息，确定所述第一位点所在的楼层以及楼层区域。
在一种可能的实现方式中，所述第二确定模块，包括：第三确定子模块，用于根据所述第一标识在所述标识图像的投影信息，确定所述第一位点与所述第一标识的相对位置信息；第四确定子模块，用于根据所述第一标识的位置信息以及所述相对位置信息，确定所述第一位点的位置信息。
在一种可能的实现方式中，所述第三确定子模块，具体用于基于所述第一标识的朝向信息，建立所述第一标识所在的参考坐标系；确定所述第一标识在所述参考坐标系下的参考坐标；根据所述第一标识在所述标识图像的投影信息，确定所述第一标识的投影坐标；基于所述第一标识的参考坐标以及所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。
在一种可能的实现方式中，所述第三确定子模块，具体用于获取所述标识图像的图像尺寸以及图像分辨率；根据所述图像尺寸以及图像分辨率，确定所述标识图像中像素点的图像坐标；根据所述第一标识在所述标识图像的投影信息以及所述像素点的图像坐标，确定所述第一标识在所述标识图像的投影点的投影坐标。
在一种可能的实现方式中，所述第三确定子模块，具体用于获取图像采集装置的装置参数；其中，所述图像采集装置用于采集所述标识图像；根据所述图像采集装置的装置参数，确定由所述第一标识的参考坐标转换为所述投影坐标的投影变换关系；基于所述投影变换关系以及所述第一标识的参考坐标和所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。
在一种可能的实现方式中，所述第四确定子模块，具体用于根据所述相对位置信息，确定所述第一位点相对于所述第一标识的距离和方向；根据所述第一标识的位置信息以及所述第一位点相对于所述第一标识的距离和方向，确定所述第一位点在当前场景坐标系下的位置信息。
在一种可能的实现方式中，所述装置还包括：路线规划模块，用于获取第二标识的标识信息；根据所述第二标识的标识信息，确定第二位点的位置信息；根据所述第一位点的位置信息和所述第二位点的位置信息，确定由所述第一位点到达所述第二位点的规划路线。
根据本公开的一方面，提供了一种电子设备，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：执行上述定位方法。
根据本公开的一方面，提供了一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述定位方法。
根据本公开的一方面，提供了一种计算机程序，其中，所述计算机程序包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现上述定位方法。
在本公开实施例中，可以获取在第一位点采集的标识图像，然后根据在标识图像中提取的第一标识的标识信息，确定第一标识的位置信息，从而可以根据第一标识的位置信息，确定第一位点所在的室内区域，对第一位点进行粗定位。然后可以基于第一标识的位置信息以及第一标识在标识图像中的投影信息，确定第一位点的位置信息，从而可以对第一位点进行精确定位。这样，可以通过第一位点附近存在的第一标识，例如，门牌、车位编码、商店牌匾等第一标识，对第一位点所在的位置进行快速、精准的定位，定位方式简单，节省资源。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，而非限制本公开。
根据下面参考附图对示例性实施例的详细说明，本公开的其它特征及方面将变得清楚。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，这些附图示出了符合本公开的实施例，并与说明书一起用于说明本公开的技术方案。
图1示出根据本公开实施例的定位方法的流程图。
图2示出根据本公开实施例的确定第一标识的位置信息的流程图。
图3示出根据本公开实施例的确定第一位点的位置信息的流程图。
图4示出根据本公开实施例的确定第一位点的相对位置信息的流程图。
图5示出根据本公开实施例的参考坐标系一示例的框图。
图6示出根据本公开实施例的为用户导航过程的流程图。
图7示出根据本公开实施例的定位装置的框图。
图8示出根据本公开实施例的一种电子设备示例的框图。
图9示出根据本公开实施例的一种电子设备示例的框图。
具体实施方式
以下将参考附图详细说明本公开的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。
本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A 和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中术语“至少一种”表示多种中的任意一种或多种中的至少两种的任意组合，例如，包括A、B、C中的至少一种，可以表示包括从A、B和C构成的集合中选择的任意一个或多个元素。
另外，为了更好地说明本公开，在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本公开同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本公开的主旨。
本公开实施例提供的定位方案，可以通过获取在第一位点采集的标识图像，根据标识图像中提取的第一标识的标识信息，确定第一标识的位置信息。从而可以根据第一标识的位置信息，对第一位点进行粗定位，例如，可以确定第一位点在室内的楼层、区域等大致位置。然后可以根据确定的第一标识的位置信息以及第一标识在标识图像中的投影信息，确定第一位点的位置信息，从而可以对第一位点进行精确定位。本公开实施例提供的定位方案，无需预先对室内定位场景进行扫描，无需预先部署用于定位的相关设备，例如，无需部署蓝牙设备、热点设备等用于定位的相关设备，可以减少定位的成本，并且，定位方式简单，应用灵活方便。
在相关技术中，基于视觉的定位方案，通常需要对定位场景的待定位图像进行采集，可以用手机或其他设备采集，利用待定位图像与预先构建的地图的对应关系，确定当前的位置。但是这种方式要求光照敏感性，要求定位场景的光照强度尽量保持不变。另一种视觉的定位方案可以基于深度学习的神经网络，利用预先采集的待定位场景的环境信息训练该神经网络，确定当前的位置。这种方式受到光照条件和定位场景的制约，如果定位场景变动则需要重新训练神经网络，并且训练过程中环境信息的采集以及标记比较复杂。因此，视觉的定位方案通过对采集的待定位图像要求较高，在运动中很难保证图像的高清晰度，并且无法区分两个相同场景的不同定位。
一些相关技术还存在基于蓝牙技术和热点技术的定位方案。这些定位方式需要对待定位场景进行改造，部署相应的蓝牙设备以及热点设备。而在不进行定位的时候，这些蓝牙设备以及热点设备会处于空闲状态，会造成浪费。
本公开实施例提供的定位方案，不需要采集定位场景中特征丰富的图像，对定位场景的要求较低，定位方式灵活方便。本公开实施例提供的定位方案，可以应用于室内或室外的定位、导航等方面以及扩展的场景中，例如，可以利用当前商场或会议场馆中已有标识的对第一位点进行定位，减少定位的成本，再例如，可以利用步行街、居民区等场景中的广告牌进行导航。本公开不对具体的应用场景进行限制。
下面通过实施例对本公开实施例提供的定位方案进行说明。
图1示出根据本公开实施例的定位方法的流程图。该定位方法可以由终端设备、服务器或其它信息处理设备执行，其中，终端设备可以为用户设备(User Equipment，UE)、移动设备、用户终端、终端、蜂窝电话、无绳电话、个人数字处理(Personal Digital Assistant，PDA)、手持设备、计算设备、车载设备、可穿戴设备等。在一些可能的实现方式中，该定位方法可以通过处理器调用存储器中存储的计算机可读指令的方式来实现。下面以终端作为执行主体为例对本公开实施例的定位方案进行说 明。
如图1所示，所述定位方法包括以下步骤：
步骤S11，获取在第一位点采集的标识图像。
在本公开实施例中，终端可以获取图像采集装置在第一位点采集的标识图像，或者，终端可以具有采集图像功能，直接在第一位点进行采集图像，得到标识图像。第一位点的可以是待定位的地点，例如，第一位点可以是用户当前所在的地点，或者，可以是用户指定的目的地点。图像采集装置可以在第一位点的周围场景中对第一标识的图像进行采集，得到标识图像。标识图像中可以包括第一标识的图像。第一标识可以是第一位点所在的场景中起到标识作用的标志物，可以是字符标识、图像标识或者二维码标识等标识，例如，停车位上的车位号码标识、房间的房间号码牌、商场中的店铺名称、海报或张贴的二维码等标识。终端可以获取在第一位点所在的场景中针对第一标识采集的标识图像。
这里，第一位点所在的场景可以是室内场景。在一些实施方式中，第一位点所在的场景也可以是室外场景，例如，步行街、居民区等具有第一标识的室外场景。
步骤S12，根据在所述标识图像提取的第一标识的标识信息，确定所述第一标识的位置信息。
在本公开实施例中，终端可以对标识图像中的第一标识的图像进行识别，提取第一标识的标识信息，然后根据第一标识的标识信息确定第一标识的位置信息。第一标识的标识信息可以是字符信息、二维码信息、图像特征信息等表征第一标识的标识特征的信息。第一标识的位置信息可以包括第一标识在当前场景中的位置信息、坐标系信息等。其中的位置信息可以是第一标识在世界坐标系下的坐标信息，即，可以是第一标识的经纬度坐标信息；或者，位置信息还可以是第一标识在当前场景坐标系下的坐标信息，即，可以是第一标识与当前场景坐标系下的坐标信息。
这里，可以预先建立标识信息与位置信息之间的对应关系，例如，在获取标识图像之前，可以确定第一标识的标识信息以及位置信息，然后建立标识信息与位置信息之间的对应关系。在一些实施方式中，在确定第一标识的位置信息时，可以先获取第一标识所在场景的平面图，然后基于获取的平面图建立所在场景的参考坐标系，然后根据第一标识在平面图中的位置信息以及第一标识的标识信息，建立标识信息和位置信息之间的对应关系。例如，在室内每个楼层的平面图中，确定每个楼层的第一标识的位置信息，然后建立第一标识对应的标识信息与该第一标识所在的楼层、位置之间的对应关系。第一标识可以为一个或多个。
在一种可能的实现方式中，可以根据第一标识的位置信息，可以确定第一位点在当前场景的定位区域，其中，定位区域中第一位点的位置信息与第一标识的位置信息的差值小于预设值。这里，可以认为第一位点与第一标识在同一个区域内，从而利用第一标识的位置信息，对第一位点进行粗定位，确定第一位点在当前场景的定位区域。由于第一位点与第一标识在同一个区域内，从而定位区域中第一位点与第一标识之间的距离小于预设值，即，定位区域中第一位点的位置信息与第一标识的位置信息的差值小于预设值。举例来说，可以将第一标识附近的一定区域范围确定为第一位点所在的定位区域，例如，将距离第一标识5m内的区域确定为第一位点所在的定位区域。
这里，在室内场景下，第一标识的位置信息可以包括楼层信息，从而可以根据第一标识的位置信 息确定第一位点所在的楼层以及楼层区域。例如，第一标识的位置信息表明第一标识所在的楼层是二楼，楼层区域是中间区域，从而可以确定第一位点所在的楼层也可以是二楼，相应的楼层区域也可以是中间区域。通过这种方式，可以实现对第一位点进行粗定位，快速地确定第一位点所在的室内或室外区域。
步骤S13，基于所述第一标识的位置信息和所述第一标识在所述标识图像的投影信息，确定所述第一位点的位置信息。
在本公开实施例中，可以对标识图像中第一标识的图像进行识别，确定第一标识在标识图像中的投影信息。这里的投影信息可以包括投影点和投影位置，其中的投影点可以是标识图像中表示第一标识的像素点，投影位置可以是投影点在标识图像中的图像位置。然后根据第一标识在标识图像的投影信息，确定图像采集装置和第一标识之间的相对位置关系，再根据图像采集装置和第一标识之间的相对位置关系以及第一标识的位置信息，可以确定图像采集装置的位置，即，可以确定第一位点的位置信息。在一个实现方式中，第一位点可以是室内场景中的位点，确定第一位点的位置信息可以是确定第一位点在室内场景中的位置信息。这样，可以在对第一位点进行粗定位的基础上，对第一位点进行精确定位，实现在室内场景或者在存在遮挡的情况下进行定位。
本公开实施例提供的上述定位方案，可以通过应用场景中的第一标识，对第一位点进行定位，定位方式简单高效。例如，在大型的场馆、商场、医院、车库等应用场景中，会存在大量的标识、编码等第一标识，通过对第一标识进行识别，可以精确的定位用户当前在大型的场馆、商场、医院、车库中的位置。
在上述步骤S12中，可以根据第一标识的标识信息，确定第一标识的位置信息，本公开实施例还提供了该步骤的一种可能的实现方式，下面结合附图对该步骤进行说明。
图2示出根据本公开实施例的确定第一标识的位置信息的流程图。上述步骤S12可以包括以下步骤：
S121，确定所述第一标识的投影在所述标识图像的图像区域；
S122，根据所述图像区域的标识特征，对所述图像区域进行标识识别，得到所述第一标识的标识信息；
S123，根据预先建立的标识信息与位置信息的对应关系，将所述第一标识的标识信息对应的位置信息确定为所述第一标识的位置信息。
在该种可能的实现方式中，终端可以先将采集的标识图像进行灰度处理，将标识图像转变为灰度图像，然后根据灰度图像的灰度值，可以得到第一标识的投影的轮廓，从而确定第一标识的投影在标识图像中的图像区域。然后可以对确定的图像区域进行标识特征提取，得到图像区域的标识特征，并将得到的标识特征与预存的参考标识特征进行匹配，可以确定与第一标识相匹配的参考标识，然后获取与第一标识相匹配的参考标识对应的标识信息，该标识信息可以确定为第一标识的标识信息。在得到第一标识的标识信息之后，可以根据预先建立的标识信息与位置信息之间的对应关系，查找第一标识的标识信息对应的位置信息，查找到的位置信息可以指示第一标识的位置，可以将该位置信息作为 第一标识的位置信息，从而可以快速地获取第一标识的位置信息，提高定位效率。其中，第一标识的投影可以理解为标识图像中第一标识对应的投影图像。参考标识可以是预存有标识信息以及位置信息的标识。终端可以预存参考标识的标识信息以及位置信息，从而可以通过与第一标识的标识信息相匹配的参考标识的标识信息，确定第一标识的位置信息。
这里，在根据图像区域的标识特征对图像区域进行标识识别之前，还可以对标识图像进行预处理，例如，对标识图像进行降噪、放缩、方向校正等预处理，从而可以更好地确定第一标识的投影所在的图像区域，更好地对图形区域的标识特征进行提取。
这里，在根据图像区域的标识特征对图像区域进行标识识别时，可以将图像区域划分为多个标识区域，例如，第一标识为“hello”，可以将第一标识的投影在所的图像区域按照单个字符进行划分，即，将“hello”中的每个字母所在的图像区域确定为一个标识区域，然后分别对多个标识区域进行标识特征提取，根据在多个标识区域提取的标识特征，可以组合得到第一标识的标识信息。这样，可以提高标识识别的准确率，减少将两个相邻的字符识别为同一个字符的情况。在一些实现方式中，在将图像区域划分为多个标识区域之后，可以同时对多个标识区域进行标识特征提取，即，可以并行对图像区域中的多个标识区域进行标识识别，这样，可以提高标识识别的效率。
在上述步骤S13中，可以基于所述第一标识的位置信息和所述第一标识在所述标识图像的投影信息，确定所述第一位点的位置信息，本公开实施例还提供了该步骤的一种可能的实现方式，下面结合附图对该步骤进行说明。
图3示出根据本公开实施例的确定第一位点的位置信息的流程图。上述步骤S13可以包括以下步骤：
步骤S131，根据所述第一标识在所述标识图像的投影信息，确定所述第一位点与所述第一标识的相对位置信息；
步骤S132，根据所述第一标识的位置信息以及所述相对位置信息，确定所述第一位点的位置信息。
在该种可能的实现方式中，第一标识在标识图像的投影信息可以包括第一标识在标识图像中的投影点和投影点在标识图像中的图像位置。在当前场景中的第一标识可以向标识图像所在的平面进行投影得到的投影点，第一标识在当前场景坐标系下的位置信息与投影点的图像位置之间存在一定的联系，从而可以根据第一标识在标识图像的投影信息，确定第一位点与第一标识的相对位置信息。这里的相对位置信息可以理解为以第一标识作为参考基准，第一位点在第一标识所在的参考坐标系下的位置信息，例如，假设以第一标识的几何中心作为参考坐标系的原点，相对位置信息可以是第一位点在该参考坐标系下的坐标信息。在确定第一位点与第一标识的相对位置信息之后，可以将第一标识的位置信息以及相对位置信息结合，确定第一位点在当前场景的位置信息，第一位点的位置信息可以是在世界坐标系下的坐标信息，也可以是当前场景坐标系下的坐标信息，该第一位点的位置信息与第一标识的位置信息在相同的坐标系下，当前场景可以是室内场景。这样，可以通过第一标识的投影信息以及第一标识的位置信息，得到第一位点在室内的精确的位置信息，实现在室内场景下的定位。
在一种可能的实现方式中，在根据所述第一标识的位置信息以及所述相对位置信息，确定所述第 一标识的位置信息时，可以先根据所述相对位置信息，确定所述第一位点相对于所述第一标识的距离和方向，然后根据所述第一标识的位置信息以及所述第一位点相对于所述第一标识的距离和方向，确定所述第一标识在当前场景坐标系下的位置信息。这里，相对位置信息可以是第一位点在参考坐标系下的位置信息，从而可以根据第一位点的相对位置信息以及第一标识在参考坐标系下的参考坐标，确定第一位点相对于第一标识的距离和方向，然后再将第一标识在当前场景坐标系下的位置信息结合第一位点相对于第一标识的距离和方向，可以得到第一位点在当前场景坐标系下的位置信息。
图4示出根据本公开实施例的确定第一位点的相对位置信息的流程图。本公开实施例还提供了上述步骤S131的一种可能的实现方式，上述S131可以包括以下步骤：
步骤S1311，基于所述第一标识的朝向信息，建立所述第一标识所在的参考坐标系；
步骤S1312，确定所述第一标识在所述参考坐标系下的参考坐标；
步骤S1313，根据所述第一标识在所述标识图像的投影信息，确定所述第一标识的投影坐标；
步骤S1314，基于所述第一标识的参考坐标以及所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。
在该种可能的实现方式中，可以获取第一标识的朝向信息，第一标识的朝向信息可以是第一标识所在平面的法线方向，从而可以根据第一标识的朝向信息建立第一标识所在的参考坐标系，参考坐标系的Z轴方向可以与第一标识的朝向信息一致。
图5示出根据本公开实施例的参考坐标系一示例的框图。在该示例中，可以以第一标识左下角的顶点为原点，第一标识所在平面的法线方向为Z轴方向，第一标识的长为X轴，第一标识的宽为Y轴，如此建立参考坐标系。然后可以在第一标识中选择多个参考点，根据第一标识在标识图像中的投影信息，可以确定多个参考点投影在标识图像的多个投影点的投影坐标。从而可以根据多个参考点的参考坐标以及对应的投影点的投影坐标，确定第一位点的与第一标识的相对位置关系。这里，可以选择第一标识的顶点或中心点作为参考点。
在一个示例中，在根据所述第一标识在所述标识图像的投影信息，确定所述第一标识的投影坐标时，可以获取所述标识图像的图像尺寸以及图像分辨率，根据所述图像尺寸以及图像分辨率，确定所述标识图像中像素点的图像坐标，根据所述第一标识在所述标识图像的投影信息以及所述像素点的图像坐标，确定所述第一标识在所述标识图像的投影点的投影坐标。
这里，可以在标识图像中建立图像坐标，例如，可以以标识图像中心为原点，标识图像的长度方向为X轴，宽度方向为Y轴建立图像坐标。然后可以根据标识图像的图形尺寸以及图像分辨率，确定标识图像的一个或多个像素点的像元尺寸，不同像素点的像元尺寸可以相同。然后将多个像素点的像元尺寸和标识图像的图形尺寸相结合，可以确定像素点的图像坐标。再将每个像素点的图像坐标结合第一标识的投影信息，可以确定第一标识的多个参考点在标识图像中的投影点的投影坐标。
在一个示例中，在基于所述第一标识的参考坐标以及所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息时，可以获取图像采集装置的装置参数，然后根据所述图像采集装置的装置参数，确定由所述第一标识的参考坐标转换为所述投影坐标的投影变换关系，再基于所述投影变换关系 以及所述第一标识的参考坐标和所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。其中，所述图像采集装置用于采集所述标识图像。
在该示例中，第一标识的参考坐标可以通过一定的变换关系转换为标识图像的投影坐标，该变换关系可以与图像采集装置的装置参数和位姿信息相关。其中的装置参数可以包括焦距、分辨率、视场角等内部参数。其中的位姿信息可以包括位置信息和姿态信息。图像采集装置的装置参数可以确定第一标识的参考坐标转换为投影坐标的投影变换关系，投影变换关系可以表示为投影矩阵，图像采集装置的位姿信息可以确定第一标识的参考坐标转换为投影坐标的位姿变换关系，位姿变换关系可以表示为位姿矩阵，在投影矩阵以及位姿矩阵的共同作用下，可以将第一标识的参考坐标转换为投影坐标，第一标识的参考坐标转换为投影坐标的变换关系可以由投影矩阵和位姿矩阵共同确定。这里，第一标识的参考坐标和投影坐标均为已知量，图像采集装置的装置参数为已知量，位姿信息为未知量，从而可以根据第一标识的参考坐标、投影坐标、图像采集装置的装置参数，确定图像采集装置在参考坐标系下的位姿信息，即，可以得到图像采集在参考坐标系下的相对位置信息。这里，在得到图像采集装置在参考坐标系下的相对位置信息之后，可以再将相对位置信息结合第一标识的位置信息，确定图像采集装置的位置信息，即确定第一位点的位置信息(图像采集装置位于第一位点)。
举例来说，假设第一标识的长和宽分别为width和height。以第一标识的左下方顶点为参考坐标系的原点，长和宽分别对应X轴和Y轴，在第一标识中选择4个参考点A(0，0)，B(width/2，0)，C(0，height/2)，D(width/2，height/2)。A、B、C、D对应的投影点的投影坐标分别为Sa，Sb，Sc，Sd。图像采集装置的装置参数对应的投影矩阵为P，图像采集装置在参考坐标系下的位姿信息对应的位姿矩阵可以为M。根据第一标识的图像坐标到参考坐标的变换关系可以得到以下公式：
Sa＝P*M -1*A  公式(1)；Sb＝P*M -1*B  公式(2)；
Sc＝P*M -1*C  公式(3)；Sd＝P*M -1*D  公式(4)；
选择上述公式的其中三个建立方程组，可以得到位姿矩阵M，即，可以得到图像采集装置在参考坐标系下的参考坐标(在参考坐标系下的位置信息)，然后可以根据第一标识在当前场景坐标系下的位置信息、第一标识在参考坐标系下的参考坐标以及图像采集装置的参考坐标，可以得到图像采集装置在当前场景坐标系下的坐标，即，可以得到第一位点在当前场景坐标系下的位置信息。
本公开实施例提供的定位方案，可以根据在标识图像中提取的标识信息，确定第一位点的位置信息，在实际应用中，可以利用该定位方案为用户导航。下面结合一示例对为用户进行导航的过程进行说明。
图6示出根据本公开实施例的为用户导航过程的流程图。
步骤S21，获取第二标识的标识信息；
步骤S22，根据所述第二标识的标识信息，确定第二位点的位置信息；
步骤S23，根据所述第一位点的位置信息和所述第二位点的位置信息，确定由所述第一位点到达所述第二位点的推荐路线。
在该示例中，第二标识的标识信息可以是用户输入的标识信息，也可以在用户输入的图像中提取 第二标识的标识信息。终端在获取第二标识的标识信息之后，可以根据预先建立的标识信息与位置信息的对应关系，确定第二标识对应的位置信息。这里，第二标识对应的位置信息可以作为第二位点的位置信息，或者，可以利用与第一位点的定位方式相同的定位方式，根据第二标识的位置信息确定第二位点的位置信息。在得到第二位点的位置信息之后，可以根据第一位点的位置信息以及第二位点的位置信息，规划由第一位点到达第二位点的推荐路线，使用户可以根据推荐路线由第一位点到达第二位点。
在该示例的一个应用场景中，用户可以位于室内的第一位点，第一位点可以是起始点，第二位点可以是用户希望到达室内的目标点。终端可以在用户的操作下在第一位点采集第一标识的标识图像，在该标识图形中获取第一标识的标识信息，并根据第一标识的标识信息确定起始点的位置信息。终端可以获取用户输入的第二标识的标识信息，然后根据第二标识的标识信息确定目标点的位置信息，然后根据起始点的位置信息和目标点的位置信息对由起始点到达目标点的路线进行规划，得到推荐路线。
在该示例的另一个应用场景中，用户可以位于室内的第三位点，第三位点可以是起始点，第二位点可以是用户希望到达室内的目标点。终端可以通过用户输入的第三标识的标识信息确定第三位点的位置信息，或者，可以通过在第三位点采集的第三标识的图像获取第三标识的标识信息，根据获取的第三标识的标识信息确定第三位点的位置信息。在用户第三位点向第二位点移动过程中可以经过第一位点，或者，用户偏离了原有的规划路线经过第一位点。从而可以利用在第一位点采集的标识图像，对当前的行进路线进行调整和规划，确定由第一位点到达第二位点的规划路线。
可以理解，本公开提及的上述各个方法实施例，在不违背原理逻辑的情况下，均可以彼此相互结合形成结合后的实施例，限于篇幅，本公开不再赘述。
此外，本公开还提供了定位装置、电子设备、计算机可读存储介质、程序，上述均可用来实现本公开提供的任一种定位方法，相应技术方案和描述和参见方法部分的相应记载，不再赘述。
本领域技术人员可以理解，在具体实施方式的上述方法中，各步骤的撰写顺序并不意味着严格的执行顺序而对实施过程构成任何限定，各步骤的具体执行顺序应当以其功能和可能的内在逻辑确定。
图7示出根据本公开实施例的定位装置的框图，如图7所示，所述定位装置包括：
获取模块71，用于获取在第一位点采集的标识图像；
第一确定模块72，用于根据在所述标识图像提取的第一标识的标识信息，确定所述第一标识的位置信息；
第二确定模块73，用于基于所述第一标识的位置信息和所述第一标识在所述标识图像的投影信息，确定所述第一位点的位置信息。
在一种可能的实现方式中，所述第一确定模块72，包括：
第一确定子模块，用于确定所述第一标识的投影在所述标识图像的图像区域；
识别子模块，用于根据所述图像区域的标识特征，对所述图像区域进行标识识别，得到所述第一 标识的标识信息；
第二确定子模块，用于根据预先建立的标识信息与位置信息的对应关系，将所述第一标识的标识信息对应的位置信息确定为所述第一标识的位置信息。
在一种可能的实现方式中，所述装置还包括：
第三确定模块，用于根据所述第一标识的位置信息，确定所述第一位点在当前场景的定位区域，其中，所述定位区域中第一位点的位置信息与所述第一标识的位置信息的差值小于预设值。
在一种可能的实现方式中，所述第三确定模块，具体用于根据所述第一标识的位置信息，确定所述第一位点所在的楼层以及楼层区域。
在一种可能的实现方式中，所述第二确定模块73，包括：
第三确定子模块，用于根据所述第一标识在所述标识图像的投影信息，确定所述第一位点与所述第一标识的相对位置信息；
第四确定子模块，用于根据所述第一标识的位置信息以及所述相对位置信息，确定所述第一位点的位置信息。
在一种可能的实现方式中，所述第三确定子模块，具体用于，
基于所述第一标识的朝向信息，建立所述第一标识所在的参考坐标系；
确定所述第一标识在所述参考坐标系下的参考坐标；
根据所述第一标识在所述标识图像的投影信息，确定所述第一标识的投影坐标；
基于所述第一标识的参考坐标以及所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。
在一种可能的实现方式中，所述第三确定子模块，具体用于，
获取所述标识图像的图像尺寸以及图像分辨率；
根据所述图像尺寸以及图像分辨率，确定所述标识图像中像素点的图像坐标；
根据所述第一标识在所述标识图像的投影信息以及所述像素点的图像坐标，确定所述第一标识在所述标识图像的投影点的投影坐标。
在一种可能的实现方式中，所述第三确定子模块，具体用于，
获取图像采集装置的装置参数；其中，所述图像采集装置用于采集所述标识图像；
根据所述图像采集装置的装置参数，确定由所述第一标识的参考坐标转换为所述投影坐标的投影变换关系；
基于所述投影变换关系以及所述第一标识的参考坐标和所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。
在一种可能的实现方式中，所述第四确定子模块，具体用于，
根据所述相对位置信息，确定所述第一位点相对于所述第一标识的距离和方向；
根据所述第一标识的位置信息以及所述第一位点相对于所述第一标识的距离和方向，确定所述第一位点在当前场景坐标系下的位置信息。
在一种可能的实现方式中，所述装置还包括：路线规划模块，用于，
获取第二标识的标识信息；
根据所述第二标识的标识信息，确定第二位点的位置信息；
根据所述第一位点的位置信息和所述第二位点的位置信息，确定由所述第一位点到达所述第二位点的规划路线。
在一些实施例中，本公开实施例提供的装置具有的功能或包含的模块可以用于执行上文方法实施例描述的方法，其具体实现可以参照上文方法实施例的描述，为了简洁，这里不再赘述。
本公开实施例还提出一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。计算机可读存储介质可以是非易失性计算机可读存储介质或易失性计算机可读存储介质。
本公开实施例还提出一种计算机程序，其中，所述计算机程序包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现上述定位方法。
本公开实施例还提出一种电子设备，包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为上述方法。
电子设备可以被提供为终端、服务器或其它形态的设备。
图8是根据一示例性实施例示出的一种电子设备800的框图。例如，电子设备800可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等终端。
参照图8，电子设备800可以包括以下一个或多个组件：处理组件802，存储器804，电源组件806，多媒体组件808，音频组件810，输入/输出(I/O)的接口812，传感器组件814，以及通信组件816。
处理组件802通常控制电子设备800的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件802可以包括一个或多个处理器820来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件802可以包括一个或多个模块，便于处理组件802和其他组件之间的交互。例如，处理组件802可以包括多媒体模块，以方便多媒体组件808和处理组件802之间的交互。
存储器804被配置为存储各种类型的数据以支持在电子设备800的操作。这些数据的示例包括用于在电子设备800上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器804可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件806为电子设备800的各种组件提供电力。电源组件806可以包括电源管理系统，一个或多个电源，及其他与为电子设备800生成、管理和分配电力相关联的组件。
多媒体组件808包括在所述电子设备800和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触 摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件808包括一个前置摄像头和/或后置摄像头。当电子设备800处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件810被配置为输出和/或输入音频信号。例如，音频组件810包括一个麦克风(MIC)，当电子设备800处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器804或经由通信组件816发送。在一些实施例中，音频组件810还包括一个扬声器，用于输出音频信号。
I/O接口812为处理组件802和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件814包括一个或多个传感器，用于为电子设备800提供各个方面的状态评估。例如，传感器组件814可以检测到电子设备800的打开/关闭状态，组件的相对定位，例如所述组件为电子设备800的显示器和小键盘，传感器组件814还可以检测电子设备800或电子设备800一个组件的位置改变，用户与电子设备800接触的存在或不存在，电子设备800方位或加速/减速和电子设备800的温度变化。传感器组件814可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件814还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件814还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件816被配置为便于电子设备800和其他设备之间有线或无线方式的通信。电子设备800可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件816经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件816还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，电子设备800可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器804，上述计算机程序指令可由电子设备800的处理器820执行以完成上述方法。
图9是根据一示例性实施例示出的一种电子设备1900的框图。例如，电子设备1900可以被提供为一服务器。参照图9，电子设备1900包括处理组件1922，其进一步包括一个或多个处理器，以及由存储器1932所代表的存储器资源，用于存储可由处理组件1922的执行的指令，例如应用程序。存储器1932中存储的应用程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理组件1922 被配置为执行指令，以执行上述方法。
电子设备1900还可以包括一个电源组件1926被配置为执行电子设备1900的电源管理，一个有线或无线网络接口1950被配置为将电子设备1900连接到网络，和一个输入输出(I/O)接口1958。电子设备1900可以操作基于存储在存储器1932的操作系统，例如Windows ServerTM，Mac OS XTM，UnixTM，LinuxTM，FreeBSDTM或类似。
在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器1932，上述计算机程序指令可由电子设备1900的处理组件1922执行以完成上述方法。
本公开可以是系统、方法和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质，其上载有用于使处理器实现本公开的各个方面的计算机可读程序指令。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。
这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本公开操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本公开的各个方面。
这里参照根据本公开实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了 本公开的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本公开的多个实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
以上已经描述了本公开的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中技术的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (23)

  1. 一种定位方法，其特征在于，包括：
    获取在第一位点采集的标识图像；
    根据在所述标识图像提取的第一标识的标识信息，确定所述第一标识的位置信息；
    基于所述第一标识的位置信息和所述第一标识在所述标识图像的投影信息，确定所述第一位点的位置信息。
  2. 根据权利要求1所述的方法，其特征在于，所述根据在所述标识图像提取的第一标识的标识信息，确定所述第一标识的位置信息，包括：
    确定所述第一标识的投影在所述标识图像的图像区域；
    根据所述图像区域的标识特征，对所述图像区域进行标识识别，得到所述第一标识的标识信息；
    根据预先建立的标识信息与位置信息的对应关系，将所述第一标识的标识信息对应的位置信息确定为所述第一标识的位置信息。
  3. 根据权利要求1或2所述的方法，其特征在于，所述方法还包括：
    根据所述第一标识的位置信息，确定所述第一位点在当前场景的定位区域，其中，所述定位区域中第一位点的位置信息与所述第一标识的位置信息的差值小于预设值。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述第一标识的位置信息，确定所述第一位点在当前场景的定位区域，包括：
    根据所述第一标识的位置信息，确定所述第一位点所在的楼层以及楼层区域。
  5. 根据权利要求1至4任意一项所述的方法，其特征在于，所述基于所述第一标识的位置信息和所述第一标识在所述标识图像的投影信息，确定所述第一位点的位置信息，包括：
    根据所述第一标识在所述标识图像的投影信息，确定所述第一位点与所述第一标识的相对位置信息；
    根据所述第一标识的位置信息以及所述相对位置信息，确定所述第一位点的位置信息。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述第一标识在所述标识图像的投影信息，确定所述第一位点与所述第一标识的相对位置信息，包括：
    基于所述第一标识的朝向信息，建立所述第一标识所在的参考坐标系；
    确定所述第一标识在所述参考坐标系下的参考坐标；
    根据所述第一标识在所述标识图像的投影信息，确定所述第一标识的投影坐标；
    基于所述第一标识的参考坐标以及所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述第一标识在所述标识图像的投影信息，确定所述第一标识的投影坐标，包括：
    获取所述标识图像的图像尺寸以及图像分辨率；
    根据所述图像尺寸以及图像分辨率，确定所述标识图像中像素点的图像坐标；
    根据所述第一标识在所述标识图像的投影信息以及所述像素点的图像坐标，确定所述第一标识在 所述标识图像的投影点的投影坐标。
  8. 根据权利要求6或7所述的方法，其特征在于，所述基于所述第一标识的参考坐标以及所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息，包括：
    获取图像采集装置的装置参数；其中，所述图像采集装置用于采集所述标识图像；
    根据所述图像采集装置的装置参数，确定由所述第一标识的参考坐标转换为所述投影坐标的投影变换关系；
    基于所述投影变换关系以及所述第一标识的参考坐标和所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。
  9. 根据权利要求5所述的方法，其特征在于，所述根据所述第一标识的位置信息以及所述相对位置信息，确定所述第一位点的位置信息，包括：
    根据所述相对位置信息，确定所述第一位点相对于所述第一标识的距离和方向；
    根据所述第一标识的位置信息以及所述第一位点相对于所述第一标识的距离和方向，确定所述第一位点在当前场景坐标系下的位置信息。
  10. 根据权利要求1至9任意一项所述的方法，其特征在于，所述方法还包括：
    获取第二标识的标识信息；
    根据所述第二标识的标识信息，确定第二位点的位置信息；
    根据所述第一位点的位置信息和所述第二位点的位置信息，确定由所述第一位点到达所述第二位点的规划路线。
  11. 一种定位装置，其特征在于，包括：
    获取模块，用于获取在第一位点采集的标识图像；
    第一确定模块，用于根据在所述标识图像提取的第一标识的标识信息，确定所述第一标识的位置信息；
    第二确定模块，用于基于所述第一标识的位置信息和所述第一标识在所述标识图像的投影信息，确定所述第一位点的位置信息。
  12. 根据权利要求11所述的装置，其特征在于，所述第一确定模块，包括：
    第一确定子模块，用于确定所述第一标识的投影在所述标识图像的图像区域；
    识别子模块，用于根据所述图像区域的标识特征，对所述图像区域进行标识识别，得到所述第一标识的标识信息；
    第二确定子模块，用于根据预先建立的标识信息与位置信息的对应关系，将所述第一标识的标识信息对应的位置信息确定为所述第一标识的位置信息。
  13. 根据权利要求11或12所述的装置，其特征在于，所述装置还包括：
    第三确定模块，用于根据所述第一标识的位置信息，确定所述第一位点在当前场景的定位区域，其中，所述定位区域中第一位点的位置信息与所述第一标识的位置信息的差值小于预设值。
  14. 根据权利要求13所述的装置，其特征在于，所述第三确定模块，具体用于根据所述第一标识 的位置信息，确定所述第一位点所在的楼层以及楼层区域。
  15. 根据权利要求11至14任意一项所述的装置，其特征在于，所述第二确定模块，包括：
    第三确定子模块，用于根据所述第一标识在所述标识图像的投影信息，确定所述第一位点与所述第一标识的相对位置信息；
    第四确定子模块，用于根据所述第一标识的位置信息以及所述相对位置信息，确定所述第一位点的位置信息。
  16. 根据权利要求15所述的装置，其特征在于，所述第三确定子模块，具体用于，
    基于所述第一标识的朝向信息，建立所述第一标识所在的参考坐标系；
    确定所述第一标识在所述参考坐标系下的参考坐标；
    根据所述第一标识在所述标识图像的投影信息，确定所述第一标识的投影坐标；
    基于所述第一标识的参考坐标以及所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。
  17. 根据权利要求16所述的装置，其特征在于，所述第三确定子模块，具体用于，
    获取所述标识图像的图像尺寸以及图像分辨率；
    根据所述图像尺寸以及图像分辨率，确定所述标识图像中像素点的图像坐标；
    根据所述第一标识在所述标识图像的投影信息以及所述像素点的图像坐标，确定所述第一标识在所述标识图像的投影点的投影坐标。
  18. 根据权利要求16或17所述的装置，其特征在于，所述第三确定子模块，具体用于，
    获取图像采集装置的装置参数；其中，所述图像采集装置用于采集所述标识图像；
    根据所述图像采集装置的装置参数，确定由所述第一标识的参考坐标转换为所述投影坐标的投影变换关系；
    基于所述投影变换关系以及所述第一标识的参考坐标和所述投影坐标，确定所述第一位点与所述第一标识的相对位置信息。
  19. 根据权利要求15所述的装置，其特征在于，所述第四确定子模块，具体用于，
    根据所述相对位置信息，确定所述第一位点相对于所述第一标识的距离和方向；
    根据所述第一标识的位置信息以及所述第一位点相对于所述第一标识的距离和方向，确定所述第一位点在当前场景坐标系下的位置信息。
  20. 根据权利要求11至19任意一项所述的装置，其特征在于，所述装置还包括：路线规划模块，用于，
    获取第二标识的标识信息；
    根据所述第二标识的标识信息，确定第二位点的位置信息；
    根据所述第一位点的位置信息和所述第二位点的位置信息，确定由所述第一位点到达所述第二位点的规划路线。
  21. 一种电子设备，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为调用所述存储器存储的指令，以执行权利要求1至10中任意一项所述的方法。
  22. 一种计算机可读存储介质，其上存储有计算机程序指令，其特征在于，所述计算机程序指令被处理器执行时实现权利要求1至10中任意一项所述的方法。
  23. 一种计算机程序，其特征在于，所述计算机程序包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现权利要求1至10中任意一项所述的方法。
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