WO2021226779A1 - 一种图像导航方法、装置、设备及可读存储介质 - Google Patents

一种图像导航方法、装置、设备及可读存储介质 Download PDF

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Publication number
WO2021226779A1
WO2021226779A1 PCT/CN2020/089552 CN2020089552W WO2021226779A1 WO 2021226779 A1 WO2021226779 A1 WO 2021226779A1 CN 2020089552 W CN2020089552 W CN 2020089552W WO 2021226779 A1 WO2021226779 A1 WO 2021226779A1
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real
image
navigation
guidance
scene
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PCT/CN2020/089552
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English (en)
French (fr)
Inventor
陈尊裕
吴沛谦
张仲文
吴珏其
胡斯洋
陈欣
Original Assignee
蜂图志科技控股有限公司
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Priority to CN202080001068.5A priority Critical patent/CN111758016A/zh
Priority to PCT/CN2020/089552 priority patent/WO2021226779A1/zh
Publication of WO2021226779A1 publication Critical patent/WO2021226779A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/95—Retrieval from the web
    • G06F16/953—Querying, e.g. by the use of web search engines
    • G06F16/9537—Spatial or temporal dependent retrieval, e.g. spatiotemporal queries
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/95—Retrieval from the web
    • G06F16/953—Querying, e.g. by the use of web search engines
    • G06F16/9538—Presentation of query results

Definitions

  • the present invention relates to the field of navigation technology, in particular to an image navigation method, an image navigation device, an image navigation device and a computer-readable storage medium.
  • Navigation is a function frequently used in people’s daily life.
  • Related technologies usually use positioning functions to continuously obtain the real-time location of the user, and display the real-time location on the map, combined with the planned route to the destination displayed on the map.
  • the user understands the route and direction to achieve the purpose of navigation.
  • satellite signals will be interfered. Limited by the strength of satellite signals, the user’s positioning accuracy and direction accuracy cannot be guaranteed. Inaccurate positioning will cause deviations in the navigation planning route, which will cause problems for users. Certainly misleading. In the indoor environment, indoor positioning technology has not yet been popularized, and the satellite signal strength will be further weakened, and the problem of navigation inaccuracy will become more prominent. Therefore, related technologies have problems of poor navigation accuracy and navigation effects.
  • the purpose of the present invention is to provide an image navigation method, an image navigation device, an image navigation device, and a computer-readable storage medium, which solves the problems of poor navigation accuracy and navigation effects of related technologies.
  • an image navigation method including:
  • the real-scene guide image is used to form a real-scene guide image set, and the real-scene guide image set is output.
  • the acquiring a real-scene guidance image corresponding to each of the guidance nodes according to the navigation path includes:
  • the acquiring a real-scene guidance image corresponding to each of the guidance nodes according to the navigation path includes:
  • the pre-marked images in the database are filtered according to the guide information to obtain the real-scene guide image.
  • the acquiring a real-scene guidance image corresponding to each of the guidance nodes according to the navigation path includes:
  • said using the real-scene guide images to form a real-scene guide image set and output the real-scene guide image set includes:
  • the obtaining the navigation path includes:
  • the navigation route is determined from the preselected route.
  • the determining the starting point of the path includes:
  • the point of interest information corresponding to the point of interest is used to determine the starting point of the path.
  • the determining multiple guide nodes in the navigation path includes:
  • the method further includes:
  • the present invention also provides an image navigation device, including:
  • a path acquisition module for acquiring a navigation path and determining multiple guide nodes in the navigation path
  • An image acquisition module configured to acquire a real-scene guidance image corresponding to each of the guidance nodes according to the navigation path
  • the output module is configured to use the real-scene guide image to form a real-scene guide image set, and output the real-scene guide image set.
  • the present invention also provides an image navigation device, including a memory and a processor, wherein:
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program to implement the above-mentioned image navigation method.
  • the present invention also provides a computer-readable storage medium for storing a computer program, wherein the computer program is executed by a processor to implement the above-mentioned image navigation method.
  • the image navigation method provided by the present invention acquires a navigation path and determines a plurality of guide nodes in the navigation path; obtains the real-scene guide image corresponding to each guide node according to the navigation path; uses the real-scene guide image to form a real-scene guide image set, and outputs the real scene Guide image set.
  • the method first determines the navigation path, and obtains the real-scene guidance image according to the guide node in the navigation path.
  • the real-scene guidance image contains guidance information and is used to generate a real-scene guidance image set.
  • the real-scene guide image is used to generate the real-scene guide image set, it is output, so that the user can determine the forward direction according to the real-scene guide image set to realize the navigation function.
  • This method does not need to obtain the real-time position during navigation, nor does it need to determine the planned route based on the real-time position, so it can avoid the interference caused by the inability to accurately obtain the real-time position, improve the navigation accuracy, improve the navigation effect, and expand the navigation
  • the scope of application solves the problems of poor navigation accuracy and navigation effects of related technologies.
  • this application uses a set of real-time guidance images instead of flat abstract graphics and planned routes, so that the user can correspond to the environment where the user is in and the real-time guidance images, which further improves the navigation effect.
  • the present invention also provides an image navigation device, an image navigation device, and a computer-readable storage medium, which also have the above-mentioned beneficial effects.
  • FIG. 1 is a flowchart of an image navigation method provided by an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for directing images in real scenes according to an embodiment of the present invention
  • FIG. 3 is a flowchart of another real-scene guidance image method provided by an embodiment of the present invention.
  • FIG. 4 is a flowchart of another real-scene image guidance method provided by an embodiment of the present invention.
  • FIG. 5 is a flowchart of a specific image navigation method provided by an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of an image navigation device provided by an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of an image navigation device provided by an embodiment of the present invention.
  • the navigation function can help users determine the route and forward direction to the target location, so it is often used in daily life.
  • related technologies In order to guide the user in real time, related technologies generally obtain the user's location in real time, and display the direction and planned route on the map to guide the user.
  • signals used for positioning such as satellite signals, will be weakened, resulting in reduced positioning accuracy. Inaccurate positioning will lead to deviations in the planned navigation route, which will lead to misleading users. Therefore, the related technology has the problem of poor navigation accuracy and navigation effect.
  • the present invention provides an image navigation method, and a corresponding device, equipment, and readable storage medium. After the navigation route is determined, the corresponding real-scene guidance image is obtained, and the real-scene guidance image set is constructed using it, and the user is guided by outputting the real-scene guidance image set. Since there is no need to obtain the user's position in real time during the navigation process, nor to navigate based on the real-time position, the problem of decreased navigation accuracy caused by inaccurate positioning is avoided, and the navigation effect is improved.
  • FIG. 1 is a flowchart of an image navigation method provided by an embodiment of the present invention, and the method includes:
  • S101 Acquire a navigation path, and determine multiple guide nodes in the navigation path.
  • part or all of the steps of the image navigation method provided by the present invention can be executed by a designated device or terminal.
  • the device or terminal can be called this device.
  • the specific form is not limited in this embodiment.
  • it can be Mobile phone, tablet or computer.
  • the navigation path is the path from the starting point to the ending point that the user wants to pass, and its specific content is related to the starting point and ending point of the path.
  • the method for obtaining the navigation path is not limited in this embodiment. For example, it may be generated according to the path information input by the user; or the path message may be parsed when the path message is received to directly obtain the navigation path.
  • the path message may be sent by other terminals or devices.
  • the guide node is a position node, which is used to indicate the location where the real-scene guide image is obtained.
  • the specific content of the guidance node is not limited in this embodiment. For example, it may be the start point of the navigation path, the end point of the navigation path, the turning point of the navigation path, or the intersection of the navigation path and other paths.
  • the guidance node corresponds to the navigation path, and it must be on the navigation path.
  • the number of guide nodes is multiple, and the specific number is not limited in this embodiment, and can be set according to actual conditions.
  • S102 Acquire real-scene guidance images corresponding to each guidance node according to the navigation path.
  • the real-scene guidance image is a real-scene image with guidance information.
  • the guidance information may include the user's forward direction, forward path, or forward way, and the form can be text description, static or dynamic graphic instructions, etc., which is not limited in this embodiment.
  • the navigation path is directional, that is, from the start of the path to the end of the path, when acquiring the real-world guidance image corresponding to the guidance node, it needs to be acquired according to the navigation path in order to obtain the real-world guidance image consistent with the direction of the navigation path.
  • the real-scene guidance image obtained by this method can play the role of navigation.
  • the real-scene guidance image is based on the real-scene image, and the real-scene image is the image that records the real environment.
  • the real-scene guidance image is required.
  • the real-scene guidance image itself is a real-scene image.
  • the real-scene guidance image can make it easier for users to locate their own position.
  • the navigation effect is further improved.
  • S103 Use the real-scene guide images to form a real-scene guide image set, and output the real-scene guide image set.
  • this embodiment does not limit the specific method of outputting the set of real-scene guidance images. For example, it can be output through a preset port and output to the display screen for display; or it can be output to the preset path according to the preset path. Or it can be sent to other devices or terminals, that is, the real-scene guidance image set is output to other devices or terminals.
  • a navigation path is first determined, and a real-scene guide image is obtained according to the guide node in the navigation path.
  • the real-scene guide image contains guide information and is used to generate a real-scene guide image set. After the real-scene guide image is used to generate the real-scene guide image set, it is output, so that the user can determine the forward direction according to the real-scene guide image set to realize the navigation function.
  • This method does not need to obtain the real-time position during navigation, nor does it need to determine the planned route based on the real-time position, so it can avoid the interference caused by the inability to accurately obtain the real-time position, improve the navigation accuracy, improve the navigation effect, and expand the navigation
  • the scope of application solves the problems of poor navigation accuracy and navigation effects of related technologies.
  • this application uses a set of real-scene guidance images instead of flat abstract graphics and planned routes, so that the user can correspond to the environment where the user is in and the real-scene guidance images, which further improves the navigation effect.
  • FIG. 2 is a flowchart of a method for guiding images in real scene provided by an embodiment of the present invention, including:
  • a panoramic image is a panoramic image, which is an image that expresses the surrounding environment as much as possible through a wide-angle representation method.
  • a panoramic image is used as a real-scene image to generate a real-scene guide image.
  • the panoramic image allows the user to observe the 360-degree real-world environment around the guidance node, which has a better navigation effect. Since the panoramic image can record all the real scenes around the guidance node, only one panoramic image can be saved for one guidance node. The number of stored images can be reduced and the waste of storage space can be avoided.
  • the panoramic image corresponding to the guidance node needs to be obtained.
  • the panoramic image can be stored locally or in the cloud, such as on the server.
  • Each guidance node can establish a corresponding relationship with the corresponding panoramic image. The corresponding relationship obtains the panoramic image corresponding to the guide node.
  • the guidance information can be extracted from the navigation information corresponding to the navigation path.
  • the guidance information includes direction information, etc. According to the guidance information, a real-scene guidance image matching the navigation path can be obtained.
  • S203 Use the guide information to mark the panoramic image to obtain a real-scene guide image.
  • the panoramic image is determined as a real-scene image, and the panoramic image is marked with the guide information to obtain the real-scene guide image.
  • the specific method of marking is not limited in this embodiment.
  • the real scene image may be marked by means of arrows, text or animation.
  • the panoramic image may be segmented. Specifically, since the panoramic image records all the real scenes around the guide node, that is, the 360-degree real scene around the guide node, it can be segmented according to the guide information to obtain a real scene image matching the navigation path, so as to reduce the final The file size of the generated reality guide image. For example, when the guide information indicates that the A guide node is heading southward, the panoramic image corresponding to the A guide node can be segmented.
  • the specific segmentation method is not limited in this embodiment, and can be set according to actual needs.
  • the south part of the panoramic map can be segmented, and the segmented image can be determined as a real image; or the direction of the user's arrival at the A guide node can be combined with the south direction to segment the panoramic image, for example, the user When you come to the A guide node from the east direction, the image in the southeast direction of the A guide node can be segmented, and the segmented image can be determined as a real scene image.
  • the guidance information may be used to filter the pre-marked images.
  • FIG. 3 is a flowchart of another method for directing images in real scene according to an embodiment of the present invention, including:
  • S302 Filter the pre-marked images in the database according to the guide information to obtain a real-scene guide image.
  • a database is preset, and the database may be a local database or a cloud database.
  • Pre-marked images are stored in the database, and each guide node corresponds to multiple pre-marked images.
  • the pre-marked images of the guidance nodes are screened using the guidance information, and the pre-marked images that pass the screening are determined as real-scene guidance images.
  • the preset selection rule is The specific content of is not limited in this embodiment. For example, it may be a random selection rule or a polling selection rule.
  • FIG. 4 is a flowchart of another method for directing images in real scene according to an embodiment of the present invention, including:
  • S402 Send the guide information and the node information corresponding to the guide node to the server.
  • the server After obtaining the guidance information, it is sent to the server together with the node information corresponding to the guidance node, so that the server can determine the real-life guidance image according to the guidance information and the node information.
  • This embodiment does not limit the specific method for the server to determine the real-scene guidance image. For example, the method described in FIG. 2 or FIG. 3 may be used. Because the server has stronger computing power, it can determine the real-scene guidance image faster, and at the same time reduce the computing power requirements of the device.
  • S403 Receive the real-scene guidance image sent by the server.
  • the server determines the real-scene guidance image, it sends it, and this device or this terminal can receive the real-scene guidance image sent by the server and use it for subsequent operations.
  • FIG. 5 is a flowchart of a specific image navigation method provided by an embodiment of the present invention, including:
  • S501 Determine the path start point and the path end point, and generate a preselected path according to the path start point and the path end point.
  • the preselected path is a feasible path between the path start point and the path end point, and the specific number thereof is not limited in this embodiment.
  • This embodiment does not limit the method for determining the path start point and the path end point. Specifically, the following method may be used to determine the path start point:
  • S5011 Obtain target location information, and use the target location information to determine the starting point of the path.
  • the target location information can be directly obtained and used as the starting point of the path.
  • the specific content of the target location information may be latitude and longitude information, and its acquisition method is not limited in this embodiment.
  • it may be directly input by the user, or the location instruction may be parsed to extract the target location information from it.
  • the location instruction may be sent by other devices or terminals.
  • step S5011 can also be used to determine the path end point, and the specific process will not be repeated in this embodiment.
  • the point of interest on the map can be used to determine the starting point of the path, specifically:
  • the starting point selection instruction is used to select points of interest.
  • the point of interest is POI (Point Of Interests), which can be any point on the map, such as a location point around a bus station or a location point around a store.
  • POI Point Of Interests
  • This embodiment does not limit the method of generating the starting point selection instruction.
  • the user can click on the map to generate the starting point selection instruction according to the position of the click; Generate a starting point selection instruction. After getting the starting point selection instruction, analyze it to get the point of interest.
  • S5013 Determine the starting point of the path by using the point of interest information corresponding to the point of interest.
  • the point of interest information After determining the point of interest, use its corresponding point of interest information to determine the starting point of the path, and the point of interest information may be latitude and longitude information. Using this method can make it easier for users to determine the starting point of the path.
  • step S5012 and step S5013 can also be used to determine the path end point, and the specific process will not be repeated in this embodiment.
  • this embodiment does not limit which of the above two methods is used to determine the path start point. Only one or two of them can be used at the same time. The two methods can be used to determine the path start point and the path start point. End point selection, such as using the method in step S5011 to determine the starting point of the path, using the method in steps S5012 and S5013 to determine the end of the path; or using the method in steps S5012 and S5013 to determine the starting point of the path, and using the method in step S5011 to determine the path end.
  • S502 Determine a navigation path from the preselected path according to the path selection rule.
  • the preselected route is selected according to the route selection rules, and the navigation route is finally determined.
  • the specific content of the path selection rule is not limited in this embodiment. It can be set according to the actual situation. For example, when there is only one preselected path, it is directly determined as the navigation path; when there are multiple preselected paths, the distance can be set to the nearest The pre-selected path of is determined as the navigation path, or the path with the least turns is determined as the navigation path, or the path with the best road conditions is determined as the navigation path.
  • guidance levels are set to meet the needs of different users, so as to provide more detailed guidance for users with poor sense of direction, rough guidance for users with better sense of direction, and reduce the number of real-scene guidance images.
  • the specific form of the guidance level is not limited in this embodiment. For example, it may be a number or a letter.
  • Different guidance levels correspond to different guidance strengths. The guidance strength is reflected by the number of guidance nodes. The more guidance nodes, the stronger the guidance strength, and the fewer guidance nodes, the weaker the guidance strength.
  • S504 Filter the preset guidance nodes corresponding to the navigation path according to the guidance level to obtain multiple guidance nodes.
  • the preset guidance nodes can be filtered according to the node types of the guidance nodes corresponding to each guidance level.
  • the node types can be divided into intersection nodes, turning points, fork points, roadside nodes, etc., Or, each guide node can be classified according to the classification rules to obtain multiple types of nodes, such as the first type of node, the A type of node, etc.; or the preset guide nodes can be filtered according to the number of guide nodes corresponding to each guide level. After filtering the preset guide nodes, the guide nodes can be determined.
  • S505 Acquire real-scene guidance images corresponding to each guidance node according to the navigation path.
  • step S102 For the specific content of this step, reference may be made to step S102 and the record in the foregoing embodiment, and this embodiment will not be repeated here.
  • S506 Sort all real-scene guide images according to the guide information to obtain a real-scene guide image set.
  • the real-scene guidance images are sorted according to the guidance information. Due to the directional nature of the navigation path, the process of the user passing through each guidance node is orderly, and the sequence matches the guidance information. Therefore, the real-scene guidance images are sorted according to the guidance information to obtain the real-scene guidance image set.
  • S507 Output a set of real-scene guidance images.
  • This embodiment does not limit the output mode of the real-scene guidance image set.
  • the real-scene guidance image set can be output to the display screen, and the real-scene guidance image set can be displayed on the display screen, or can be output to the target path for storage for the user to view.
  • the real-scene guidance image set can also be edited according to the editing instructions, specifically:
  • the editing instruction may be input by the user or generated according to a certain operation of the user, or may be sent by other devices or terminals.
  • the editing information can be obtained by analyzing it, and the specific content of the editing information is not limited in this embodiment.
  • S509 Edit the real-scene guide image set according to the editing information.
  • This embodiment does not limit the specific editing object of the editing information. It can be a set of real-scene guide images, or can be one or more real-scene guide images in the image set, and the content of editing can include the deletion or position change of real-scene guide images. , Or you can add, delete or modify certain information on one or more real-scene guidance images.
  • steps S508 and S509 are not necessary steps, and they are not necessarily performed.
  • the image navigation device provided by the embodiment of the present invention will be introduced below.
  • the image navigation device described below and the image navigation method described above may correspond to each other and refer to each other.
  • FIG. 6 is a schematic structural diagram of an image navigation device provided by an embodiment of the present invention, including:
  • the path obtaining module 610 is used to obtain a navigation path and determine multiple guide nodes in the navigation path;
  • the image acquisition module 620 is configured to acquire the real-scene guidance image corresponding to each guidance node according to the navigation path;
  • the output module 630 is configured to use the real-scene guide images to form a real-scene guide image set, and output the real-scene guide image set.
  • the image acquisition module 620 includes:
  • a panoramic image acquisition unit configured to acquire a panoramic image corresponding to the guide node
  • the first extraction unit is used to extract the guidance information corresponding to the navigation path
  • the marking unit is used for marking the panoramic image with the guidance information to obtain the real-scene guidance image.
  • the image acquisition module 620 includes:
  • the second extraction unit is used to extract the guidance information corresponding to the navigation path
  • the screening unit is used to screen the pre-marked images in the database according to the guide information to obtain real-scene guide images.
  • the image acquisition module 620 includes:
  • the third extraction unit is used to extract the guidance information corresponding to the navigation path
  • the sending unit is used to send the guide information and the node information corresponding to the guide node to the server;
  • the receiving unit is used to receive the real-scene guidance image sent by the server.
  • the output module 630 includes:
  • the sorting unit is used to sort all real-scene guide images according to the guide information to obtain a real-scene guide image set;
  • the output unit is used to output a set of real-scene guidance images.
  • the path obtaining module 610 includes:
  • the preselected path acquisition unit is used to determine the path start point and the path end point, and generate the preselected path according to the path start point and the path end point;
  • the navigation path determination unit is used to determine the navigation path from the preselected path according to the path selection rule.
  • the preselected path acquisition unit includes:
  • the first determining subunit is used to obtain target location information, and use the target location information to determine the starting point of the path;
  • the point of interest acquisition subunit is used to acquire and parse the starting point selection instruction to obtain the point of interest;
  • the second determining subunit is used to determine the starting point of the path by using the point of interest information corresponding to the point of interest.
  • the path obtaining module 610 includes:
  • the grade determination unit is used to determine the guidance grade
  • the guidance node filtering unit is used to filter the preset guidance nodes corresponding to the navigation path according to the guidance level to obtain multiple guidance nodes.
  • it also includes:
  • Editing information acquisition module used to acquire and parse editing instructions to obtain editing information
  • the editing module is used to edit the real-scene guide image set according to the editing information.
  • a navigation path is first determined, and a real-scene guidance image is obtained according to the guidance node in the navigation path.
  • the real-scene guidance image contains guidance information and is used to generate a real-scene guidance image set.
  • the real-scene guide image is used to generate the real-scene guide image set, it is output, so that the user can determine the forward direction according to the real-scene guide image set to realize the navigation function.
  • the device does not need to obtain the real-time position during navigation, nor does it need to determine the planned route based on the real-time position, so it can avoid the interference caused by the inaccurate acquisition of the real-time position, improve the accuracy of the navigation, improve the navigation effect, and expand the navigation
  • the scope of application solves the problems of poor navigation accuracy and navigation effects of related technologies.
  • users can correspond to their environment with real-life guidance images, which further improves the navigation effect.
  • the image navigation device provided by the embodiment of the present invention will be introduced below.
  • the image navigation device described below and the image navigation method described above may correspond to each other and refer to each other.
  • the image navigation device 700 may include a processor 701 and a memory 702, and may further include one or more of a multimedia component 703, an information input/information output (I/O) interface 704, and a communication component 705.
  • a multimedia component 703 may be included in the image navigation device 700.
  • I/O information input/information output
  • the processor 701 is used to control the overall operation of the image navigation device 700 to complete all or part of the steps in the above-mentioned image navigation method; the memory 702 is used to store various types of data to support the operation of the image navigation device 700, These data may include, for example, instructions for any application program or method used to operate on the image navigation device 700, and application-related data.
  • the memory 702 can be implemented by any type of volatile or non-volatile storage devices or their combination, such as static random access memory (Static Random Access Memory, SRAM), electrically erasable programmable read-only memory (Electrically erasable programmable read-only memory).
  • EEPROM Erasable Programmable Read-Only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • PROM Programmable Read-Only Memory
  • Read-Only Memory One or more of Only Memory, ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • the multimedia component 703 may include a screen and an audio component.
  • the screen may be a touch screen, for example, and the audio component is used to output and/or input audio signals.
  • the audio component may include a microphone, which is used to receive external audio signals.
  • the received audio signal may be further stored in the memory 702 or sent through the communication component 705.
  • the audio component also includes at least one speaker for outputting audio signals.
  • the I/O interface 704 provides an interface between the processor 701 and other interface modules.
  • the above-mentioned other interface modules may be a keyboard, a mouse, a button, and the like. These buttons can be virtual buttons or physical buttons.
  • the communication component 705 is used for wired or wireless communication between the image navigation device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so the corresponding communication component 705 may include: Wi-Fi components, Bluetooth components, NFC components.
  • the image navigation device 700 can be used by one or more application specific integrated circuits (ASIC), digital signal processors (Digital Signal Processor, DSP), and digital signal processing devices (Digital Signal Processing Device, DSPD). , Programmable Logic Device (PLD), Field Programmable Gate Array (Field Programmable Gate Array, FPGA), controller, microcontroller, microprocessor or other electronic components to implement the above implementation
  • ASIC application specific integrated circuits
  • DSP Digital Signal Processor
  • DSPD Digital Signal Processing Device
  • PLD Programmable Logic Device
  • Field Programmable Gate Array Field Programmable Gate Array
  • FPGA Field Programmable Gate Array
  • controller microcontroller
  • the computer-readable storage medium provided by the embodiment of the present invention will be introduced below.
  • the computer-readable storage medium described below and the image navigation method described above can be referenced correspondingly.
  • the present invention also provides a computer-readable storage medium with a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned image navigation method are realized.
  • the computer-readable storage medium may include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc., which can store program codes Medium.
  • the steps of the method or algorithm described in the embodiments disclosed in this document can be directly implemented by hardware, a software module executed by a processor, or a combination of the two.
  • the software module can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or all areas in the technical field. Any other known storage media.

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Abstract

一种图像导航方法，包括：获取导航路径，并确定导航路径中的多个指引节点(S101)；依据导航路径，获取各个指引节点对应的实景指引图像(S102)；利用实景指引图像组成实景指引图像集，并输出实景指引图像集(S103)；该方法先确定导航路径，并根据导航路径中的指引节点获取实景指引图像，在利用实景指引图像生成实景指引图像集后将其输出，以便用户根据实景指引图像集确定前进方向，实现导航的功能；不需要获取实时位置，也不需要依据实时位置确定规划路线，因此可以避免因无法准确获取实时位置造成的干扰，提高了导航准确程度，改善了导航的效果；此外，还提供了一种图像导航装置、图像导航设备及计算机可读存储介质。

Description

一种图像导航方法、装置、设备及可读存储介质 技术领域
本发明涉及导航技术领域，特别涉及一种图像导航方法、图像导航装置、图像导航设备及计算机可读存储介质。
背景技术
导航是人们日常生活中经常用到的功能，相关技术通常借助定位功能，持续获取用户所处的实时位置，并在地图上显示该实时位置，结合地图上显示的指向目的地的规划路线来使用户了解前进路线和方向，实现导航的目的。然而，在建筑密集区域中，卫星信号会受到干扰，受限于卫星信号强度，用户的定位准确程度和方向正确性无法得到保证，而定位不准确则会使导航规划路线出现偏差，对用户造成一定的误导。而在室内环境中，室内定位技术尚未普及，卫星信号强度会被进一步削弱，导航不准确问题更加突出，因此，相关技术存在导航准确度和导航效果较差的问题。
因此，如何解决相关技术导航准确度和导航效果较差的问题，是本领域技术人员需要解决的技术问题。
发明内容
有鉴于此，本发明的目的在于提供一种图像导航方法、图像导航装置、图像导航设备及计算机可读存储介质，解决了相关技术导航准确度和导航效果较差的问题。
为解决上述技术问题，本发明提供了一种图像导航方法，包括：
获取导航路径，并确定所述导航路径中的多个指引节点；
依据所述导航路径，获取各个所述指引节点对应的实景指引图像；
利用所述实景指引图像组成实景指引图像集，并输出所述实景指引图像集。
可选地，所述依据所述导航路径，获取各个所述指引节点对应的实景指引图像，包括：
获取所述指引节点对应的全景图像；
提取所述导航路径对应的指引信息；
利用所述指引信息对所述全景图像进行标记，得到所述实景指引图像。
可选地，所述依据所述导航路径，获取各个所述指引节点对应的实景指引图像，包括：
提取所述导航路径对应的指引信息；
根据所述指引信息对数据库中的预标记图像进行筛选，得到所述实景指引图像。
可选地，所述依据所述导航路径，获取各个所述指引节点对应的实景指引图像，包括：
提取所述导航路径对应的指引信息；
将所述指引信息以及与所述指引节点对应的节点信息发送至服务端；
接收所述服务端发送的所述实景指引图像。
可选地，所述利用所述实景指引图像组成实景指引图像集，并输出所述实景指引图像集，包括：
根据所述指引信息对所有所述实景指引图像进行排序，得到所述实景指引图像集；
输出所述实景指引图像集。
可选地，所述获取导航路径，包括：
确定路径起点和路径终点，并根据所述路径起点和所述路径终点生成预选路径；
根据路径选择规则，从所述预选路径中确定所述导航路径。
可选地，所述确定路径起点，包括：
获取目标位置信息，利用所述目标位置信息确定所述路径起点；
和/或，
获取并解析起点选择指令，得到兴趣点；
利用所述兴趣点对应的兴趣点信息确定所述路径起点。
可选地，所述确定所述导航路径中的多个指引节点，包括：
确定指引等级；
根据所述指引等级对所述导航路径对应的预设指引节点进行过滤，得到多个所述指引节点。
可选地，在所述输出所述实景指引图像集之后，还包括：
获取并解析编辑指令，得到编辑信息；
按照所述编辑信息对所述实景指引图像集进行编辑。
本发明还提供了一种图像导航装置，包括：
路径获取模块，用于获取导航路径，并确定所述导航路径中的多个指引节点；
图像获取模块，用于依据所述导航路径，获取各个所述指引节点对应的实景指引图像；
输出模块，用于利用所述实景指引图像组成实景指引图像集，并输出所述实景指引图像集。
本发明还提供了一种图像导航设备，包括存储器和处理器，其中：
所述存储器，用于保存计算机程序；
所述处理器，用于执行所述计算机程序，以实现上述的图像导航方法。
本发明还提供了一种计算机可读存储介质，用于保存计算机程序，其中，所述计算机程序被处理器执行时实现上述的图像导航方法。
本发明提供的图像导航方法，获取导航路径，并确定导航路径中的多个指引节点；依据导航路径，获取各个指引节点对应的实景指引图像；利用实景指引图像组成实景指引图像集，并输出实景指引图像集。
可见，该方法先确定导航路径，并根据导航路径中的指引节点获取实景指引图像，实景指引图像包含指引信息，用于生成实景指引图像集。在利用实景指引图像生成实景指引图像集后将其输出，以便用户根据实景指引图像集确定前进方向，实现导航的功能。该方法在导航时并不需要获取实时位置，也不需要依据实时位置确定规划路线，因此可以避免因无法准确获取实时位置造成的干扰，提高了导航准确程度，改善了导航的效果，扩大了导航的适用范围，解决了相关技术导航准确度和导航效果较差的问题。同时，本申请采用实景指引图像集代替平面抽象的图形和规划线路， 使得用户可以将所处的环境与实景指引图像相对应，进一步改善了导航的效果。
此外，本发明还提供了一种图像导航装置、图像导航设备及计算机可读存储介质，同样具有上述有益效果。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本发明实施例提供的一种图像导航方法流程图；
图2为本发明实施例提供的一种实景指引图像方法流程图；
图3为本发明实施例提供的另一种实景指引图像方法流程图；
图4为本发明实施例提供的另一种实景指引图像方法流程图；
图5为本发明实施例提供的一种具体的图像导航方法流程图；
图6为本发明实施例提供的一种图像导航装置的结构示意图；
图7为本发明实施例提供的一种图像导航设备的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
导航功能可以帮助用户确定前往目标地点的路线和前行方向，因此在日常生活中被经常使用。为了实时地对用户进行引导，相关技术一般实时获取用户的位置，并在地图上显示前进方向和规划线路，以便引导用户前进。然而，在建筑密集的区域内，或在室内区域内，卫星信号等用于进行定位的信号会被削弱，导致定位准确性降低。而定位不准确会导致导航的 规划线路出现偏差，进而对用户产生误导。因此，相关技术存在导航准确度和导航效果较差的问题。
为了解决上述问题，本发明提供了一种图像导航方法，以及对应的装置、设备和可读存储介质。在确定导航线路后获取对应的实景指引图像，并利用其构建实景指引图像集，通过输出实景指引图像集的方式对用户进行指引。由于无需在导航过程中实时获取用户的位置，也不需要根据实时位置进行导航，因此避免了因定位不准确导致的导航准确度下降的问题，改善了导航效果。
具体的，在一种可能的实施方式中，请参考图1。图1为本发明实施例提供的一种图像导航方法流程图，该方法包括：
S101：获取导航路径，并确定导航路径中的多个指引节点。
需要说明的是，本发明提供的图像导航方法的部分或全部步骤可以由指定的设备或终端执行，该设备或终端可以被称为本设备，其具体形式本实施例不做限定，例如可以为手机、平板电脑或计算机。
导航路径即为用户想要经过的，从出发点到终点的路径，其具体内容根据路径起点和路径终点相关。导航路径的获取方式本实施例不做限定，例如可以根据用户输入的路径信息生成；或者在接收到路径消息时对其进行解析，直接得到导航路径，路径消息可以由其它终端或设备发送。
导航路径上存在指引节点，指引节点为位置节点，用于表示获取实景指引图像的位置。指引节点的具体内容本实施例不做限定，例如可以为导航路径的起点、导航路径的终点、导航路径的转折点或导航路径与其他路径的交叉点等。指引节点与导航路径相对应，其必然处于导航路径上。指引节点的数量为多个，其具体数量本实施例不做限定，可以根据实际情况进行设定。
S102：依据导航路径，获取各个指引节点对应的实景指引图像。
在确定指引节点后，获取指引节点对应的实景指引图像，以便对用户进行引导。实景指引图像为具有指引信息的实景图像，指引信息可以包括用户的前进方向、前进路径或前进方式，其形式可以为文字说明、静态或动态的图形指示等，本实施例不做限定。需要说明的是，由于导航路径具 有方向性，即从路径起点到路径终点，因此在获取指引节点对应的实景指引图像时，需要依据导航路径进行获取，以便得到与导航路径方向一致的实景指引图像，利用该方法获取的实景指引图像才能够起到导航的作用。
实景指引图像以实景图像为基础，实景图像为记录现实环境的图像。在本实施例中，由于不获取用户的实时位置，因此为了使用户了解自身当前所处的位置，以便确定前进方向，则需要以实景图像为基础的实景指引图像。进一步的，实景指引图像本身为实景图像，对于某些方向感较差的用户，或者抽象图形理解能力较差的用户来说，实景指引图像可以使其更加方便地对自身位置进行定位，便于用户将当前所处环境与实景指引图像相对应，进一步改善了导航效果。
S103：利用实景指引图像组成实景指引图像集，并输出实景指引图像集。
在得到多个实景指引图像后，利用其组成实景指引图像集，通过输出实景指引图像集的方式，为用户进行导航。具体的，本实施例并不限定输出实景指引图像集的具体方式，例如可以通过预设端口输出，将其输出至显示屏进行显示；或者可以按照预设路径，将其输出至预设路径对应的位置进行存储；或者可以发送给其他设备或终端，即将实景指引图像集输出至其它设备或终端。
应用本发明实施例提供的图像导航方法，先确定导航路径，并根据导航路径中的指引节点获取实景指引图像，实景指引图像包含指引信息，用于生成实景指引图像集。在利用实景指引图像生成实景指引图像集后将其输出，以便用户根据实景指引图像集确定前进方向，实现导航的功能。该方法在导航时并不需要获取实时位置，也不需要依据实时位置确定规划路线，因此可以避免因无法准确获取实时位置造成的干扰，提高了导航准确程度，改善了导航的效果，扩大了导航的适用范围，解决了相关技术导航准确度和导航效果较差的问题。同时，本申请采用实景指引图像集代替平面抽象的图形和规划线路，使得用户可以将所处的环境与实景指引图像相对应，进一步改善了导航的效果。
基于上述实施例，在一种可能的实施方式中，可以根据导航路径的指引信息对实景图像进行标记，得到实景指引图像。具体请参考图2，图2为本发明实施例提供的一种实景指引图像方法流程图，包括：
S201：获取指引节点对应的全景图像。
全景图像即为全景图，其为通过广角的表现手段尽可能多的表现出周围环境的图像。在本实施例中，利用全景图像作为实景图像生成实景指引图像。全景图像可以允许用户观察指引节点周围360度的实景环境，起到更好的导航效果，由于全景图像可以记录指引节点周围全部的现实场景，因此一个指引节点仅保存一张全景图像即可，同样可以减少存储图像的数量，避免存储空间的浪费。在确定指引节点后，需要获取指引节点对应的全景图像，全景图像可以在本地存储，或者可以在云端存储，例如在服务端存储，各个指引节点可以分别与对应的全景图像间建立对应关系，根据该对应关系获取指引节点对应的全景图像。
S202：提取导航路径对应的指引信息。
在获取全景图像后，需要提取导航路径对应的指引信息，具体的，可以从导航路径对应的导航信息中提取指引信息。指引信息包括方向信息等，根据指引信息可以得到与导航路径相匹配的实景指引图像。
S203：利用指引信息对全景图像进行标记，得到实景指引图像。
在得到全景图像后，将该全景图像确定为实景图像，并利用指引信息对全景图像进行标记，即可得到实景指引图像。标记的具体方法本实施例不做限定，例如可以利用箭头、文字或动画等方式对实景图像进行标记。
在一种可能的实施方式中，为了减小实景指引图像的文件大小，可以对全景图像进行切分。具体的，由于全景图像记录了指引节点周围全部的现实场景，即指引节点周围360度的实景，因此可以将其根据指引信息进行切分，得到与导航路径相匹配的实景图像，以便减小最终生成的实景指引图像的文件大小。例如当指引信息说明在A指引节点向南方向前进，则可以对A指引节点对应的全景图像进行切分，具体的切分方法本实施例不做限定，可以根据实际需要进行设定。例如可以将该全景地图向南的部分进行切分，并将切分得到的图像确定为实景图像；或者可以将用户到达A指 引节点的方向与南方向相结合对全景图像进行切分，例如用户从东方向来到A指引节点，则可以将A指引节点东南方向的图像进行切分，并将切分得到的图像确定为实景图像。
在另一种可能的实施方式中，为了更快地获取实景指引图像，可以利用指引信息对预标记图像进行筛选。可以参考图3，图3为本发明实施例提供的另一种实景指引图像方法流程图，包括：
S301：提取导航路径对应的指引信息。
在本实施例中，为了获取与导航路径相匹配的实景指引图像，同样需要提取导航路径对应的指引信息。
S302：根据指引信息对数据库中的预标记图像进行筛选，得到实景指引图像。
本实施例预设有数据库，该数据库可以为本地数据库或云端数据库。数据库中存储有预标记图像，每个指引节点对应于多个预标记图像。在得到指引信息后，利用指引信息对指引节点的预标记图像进行筛选，将通过筛选的预标记图像确定为实景指引图像。具体的，当通过筛选的预标记图像只有一张时，直接将其确定为实景指引图像；当通过筛选的图像有多张时，可以按照预设选取规则从中选择实景指引图像，预设选取规则的具体内容本实施例不做限定，例如可以为随机选取规则或轮询选取规则。
在另一种可能的实施方式中，为了更快地获取实景指引图像，同时降低对本设备的计算能力要求，可以利用计算能力更强的服务端获取实景指引图像。可以参考图4，图4为本发明实施例提供的另一种实景指引图像方法流程图，包括：
S401：提取导航路径对应的指引信息。
在本实施例中，为了获取与导航路径相匹配的实景指引图像，同样需要提取导航路径对应的指引信息。
S402：将指引信息以及与指引节点对应的节点信息发送至服务端。
在获取指引信息后，将其与指引节点对应的节点信息一起发送至服务端，以便服务端根据指引信息和节点信息确定实景指引图像。本实施例并不限定服务端确定实景指引图像的具体方式，例如可以采用图2或图3中所 描述的方式。由于服务端具有更强的计算能力，因此可以更快地确定实景指引图像，同时降低了对本设备的计算能力要求。
S403：接收服务端发送的实景指引图像。
服务端在确定实景指引图像后，将其进行发送，而本设备或本终端即可接收服务端发送的实景指引图像，并利用其进行后续操作。
基于上述实施例，在一种可能的实施方式中，可以设置不同的指引等级，根据指引等级确定导航指引的强度。具体请参考图5，图5为本发明实施例提供的一种具体的图像导航方法流程图，包括：
S501：确定路径起点和路径终点，并根据路径起点和路径终点生成预选路径。
在确定导航路径前，需要确定路径起点和路径终点，以便根据路径起点和路径中断生成预选路径。预选路径为路径起点与路径终点之间的可行路径，其具体数量本实施例不做限定。
本实施例并不限定路径起点和路径终点的确定方法，具体的，可以采用如下方法对路径起点进行确定：
S5011：获取目标位置信息，利用目标位置信息确定路径起点。
在本实施例中，可以直接获取目标位置信息，并将其作为路径的起点。目标位置信息的具体内容可以为经纬度信息，其获取方式本实施例不做限定，例如可以由用户直接输入，或者可以解析位置指令，从中提取目标位置信息，位置指令可以由其它设备或终端发送。
相应的，还可以利用S5011步骤中的方法对路径终点进行确定，具体过程本实施例不再赘述。
在另一种可能的实施方式中，可以利用地图上的兴趣点确定路径起点，具体的：
S5012：获取并解析起点选择指令，得到兴趣点
起点选择指令用于对兴趣点进行选择，兴趣点即为POI(Point Of Interests)，其可以为地图上的任意一点，例如公交站周边的位置点或店铺周边的位置点。本实施例并不限定起点选择指令的生成方式，例如可以由 用户在地图上点击，根据其点击的位置生成起点选择指令；或者可以由用户在搜索框中输入想要搜索的内容，根据该内容生成起点选择指令。在得到起点选择指令后，对其进行解析，得到兴趣点。
S5013：利用兴趣点对应的兴趣点信息确定路径起点。
在确定兴趣点后，利用其对应的兴趣点信息确定路径起点，兴趣点信息可以为经纬度信息。利用该方法可以使用户更加方便地确定路径起点。
相应的，还可以利用S5012步骤和S5013步骤中的方法对路径终点进行确定，具体过程本实施例不再赘述。
需要说明的是，本实施例并不限定具体采用上述两种方法中的哪一种确定路径起点，可以仅采用其中一种或两种同时采用，两种方法可以分别用于对路径起点和路径终点进行选择，例如利用S5011步骤中的方法确定路径起点，利用S5012步骤和S5013步骤中的方法确定路径终点；或者利用S5012步骤和S5013步骤中的方法确定路径起点，利用S5011步骤中的方法确定路径终点。
S502：根据路径选择规则，从预选路径中确定导航路径。
在得到预选路径后，按照路径选择规则对预选路径进行选择，最终确定导航路径。路径选择规则的具体内容本实施例不做限定，其可以根据实际情况进行设定，例如当预选路径只有一条时，直接将其确定为导航路径；当预选路径有多条时，可以将距离最近的预选路径确定为导航路径，或者将转弯最少的路径确定为导航路径，或者将路况最好的路径确定为导航路径。
S503：确定指引等级。
在本实施例中，为了满足不同用户的需求设置有指引等级，以便为方向感较差的用户提供更加细致的指导，为方向感较好的用户提供粗略的指导，减少实景指引图像的数量。指引等级的具体形式本实施例不做限定，例如可以为数字，或者可以为字母。不同的指引等级对应于不同的指引强度，指引强度通过指引节点的数量进行体现，指引节点越多，指引强度越强，指引节点越少，指引强度越弱。
S504：根据指引等级对导航路径对应的预设指引节点进行过滤，得到 多个指引节点。
在确定指引等级后，利用其对导航路径对应的预设指引节点进行过滤，预设指引节点为导航路径上的所有指引节点。本实施例并不限定过滤的具体方法，例如可以按照各个指引等级对应的指引节点的节点类型对预设指引节点进行过滤，节点类型可以分为路口节点、转折点、岔路点、路边节点等，或者可以对各个指引节点按照分类规则进行分类，得到多类节点，例如第一类节点、第A类节点等；或者可以根据各个指引等级对应的指引节点数量对预设指引节点进行过滤。在对预设指引节点过滤后，即可确定指引节点。
S505：依据导航路径，获取各个指引节点对应的实景指引图像。
本步骤具体内容可以参考S102步骤和上述实施例中的记载，本实施例在此不再赘述。
S506：根据指引信息对所有实景指引图像进行排序，得到实景指引图像集。
在得到所有的实景指引图像后，根据指引信息对其进行排序。由于导航路径具有方向性，因此用户经过各个指引节点的过程是有序的，该顺序与指引信息相匹配，因此根据指引信息对实景指引图像进行排序，即可得到实景指引图像集。
S507：输出实景指引图像集。
本实施例并不限定实景指引图像集的输出方式，例如可以输出至显示屏，利用显示屏显示该实景指引图像集，或者可以输出至目标路径进行存储，以便用户进行查看。
在一种可能的实施方式中，在得到实景指引图像集后，还可以根据编辑指令对该实景指引图像集进行编辑，具体的：
S508：获取并解析编辑指令，得到编辑信息。
编辑指令可以由用户输入或根据用户的某一操作生成，或者可以由其他设备或终端发送。在获取到编辑指令后对其进行解析，即可得到编辑信息，编辑信息的具体内容本实施例不做限定。
S509：按照编辑信息对实景指引图像集进行编辑。
本实施例并不限定编辑信息的具体编辑对象，其可以为实景指引图像集，或者可以为该图像集中的某一个或多个实景指引图像，编辑的内容可以包括实景指引图像的删除或位置变换，或者可以在某一个或多个的实景指引图像上新增、删除或修改某些信息。
需要说明的是，S508步骤和S509步骤并不是必要步骤，其并不是必须被执行的。
下面对本发明实施例提供的图像导航装置进行介绍，下文描述的图像导航装置与上文描述的图像导航方法可相互对应参照。
请参考图6，图6为本发明实施例提供的一种图像导航装置的结构示意图，包括：
路径获取模块610，用于获取导航路径，并确定导航路径中的多个指引节点；
图像获取模块620，用于依据导航路径，获取各个指引节点对应的实景指引图像；
输出模块630，用于利用实景指引图像组成实景指引图像集，并输出实景指引图像集。
可选地，图像获取模块620，包括：
全景图像获取单元，用于获取指引节点对应的全景图像；
第一提取单元，用于提取导航路径对应的指引信息；
标记单元，用于利用指引信息对全景图像进行标记，得到实景指引图像。
可选地，图像获取模块620，包括：
第二提取单元，用于提取导航路径对应的指引信息；
筛选单元，用于根据指引信息对数据库中的预标记图像进行筛选，得到实景指引图像。
可选地，图像获取模块620，包括：
第三提取单元，用于提取导航路径对应的指引信息；
发送单元，用于将指引信息以及与指引节点对应的节点信息发送至服 务端；
接受单元，用于接收服务端发送的实景指引图像。
可选地，输出模块630，包括：
排序单元，用于根据指引信息对所有实景指引图像进行排序，得到实景指引图像集；
输出单元，用于输出实景指引图像集。
可选地，路径获取模块610，包括：
预选路径获取单元，用于确定路径起点和路径终点，并根据路径起点和路径终点生成预选路径；
导航路径确定单元，用于根据路径选择规则，从预选路径中确定导航路径。
可选地，预选路径获取单元，包括：
第一确定子单元，用于获取目标位置信息，利用目标位置信息确定路径起点；
和/或，
兴趣点获取子单元，用于获取并解析起点选择指令，得到兴趣点；
第二确定子单元，用于利用兴趣点对应的兴趣点信息确定路径起点。
可选地，路径获取模块610，包括：
等级确定单元，用于确定指引等级；
指引节点过滤单元，用于根据指引等级对导航路径对应的预设指引节点进行过滤，得到多个指引节点。
可选地，还包括：
编辑信息获取模块，用于获取并解析编辑指令，得到编辑信息；
编辑模块，用于按照编辑信息对实景指引图像集进行编辑。
应用本发明实施例提供的图像导航装置，先确定导航路径，并根据导航路径中的指引节点获取实景指引图像，实景指引图像包含指引信息，用于生成实景指引图像集。在利用实景指引图像生成实景指引图像集后将其输出，以便用户根据实景指引图像集确定前进方向，实现导航的功能。该装置在导航时并不需要获取实时位置，也不需要依据实时位置确定规划路 线，因此可以避免因无法准确获取实时位置造成的干扰，提高了导航准确程度，改善了导航的效果，扩大了导航的适用范围，解决了相关技术导航准确度和导航效果较差的问题。同时，通过采用实景指引图像集代替平面抽象的图形和规划线路，使得用户可以将所处的环境与实景指引图像相对应，进一步改善了导航的效果。
下面对本发明实施例提供的图像导航设备进行介绍，下文描述的图像导航设备与上文描述的图像导航方法可相互对应参照。
请参考图7，图7为本发明实施例提供的一种图像导航设备的结构示意图。其中图像导航设备700可以包括处理器701和存储器702，还可以进一步包括多媒体组件703、信息输入/信息输出(I/O)接口704以及通信组件705中的一种或多种。
其中，处理器701用于控制图像导航设备700的整体操作，以完成上述的图像导航方法中的全部或部分步骤；存储器702用于存储各种类型的数据以支持在图像导航设备700的操作，这些数据例如可以包括用于在该图像导航设备700上操作的任何应用程序或方法的指令，以及应用程序相关的数据。该存储器702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，例如静态随机存取存储器(Static Random Access Memory，SRAM)、电可擦除可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，EEPROM)、可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，EPROM)、可编程只读存储器(Programmable Read-Only Memory，PROM)、只读存储器(Read-Only Memory，ROM)、磁存储器、快闪存储器、磁盘或光盘中的一种或多种。
多媒体组件703可以包括屏幕和音频组件。其中屏幕例如可以是触摸屏，音频组件用于输出和/或输入音频信号。例如，音频组件可以包括一个麦克风，麦克风用于接收外部音频信号。所接收的音频信号可以被进一步存储在存储器702或通过通信组件705发送。音频组件还包括至少一个扬声器，用于输出音频信号。I/O接口704为处理器701和其他接口模块之间提供接口，上述其他接口模块可以是键盘，鼠标，按钮等。这些按钮可以是 虚拟按钮或者实体按钮。通信组件705用于图像导航设备700与其他设备之间进行有线或无线通信。无线通信，例如Wi-Fi，蓝牙，近场通信(Near Field Communication，简称NFC)，2G、3G或4G，或它们中的一种或几种的组合，因此相应的该通信组件705可以包括：Wi-Fi部件，蓝牙部件，NFC部件。
图像导航设备700可以被一个或多个应用专用集成电路(Application Specific Integrated Circuit，简称ASIC)、数字信号处理器(Digital Signal Processor，简称DSP)、数字信号处理设备(Digital Signal Processing Device，简称DSPD)、可编程逻辑器件(Programmable Logic Device，简称PLD)、现场可编程门阵列(Field Programmable Gate Array，简称FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述实施例给出的图像导航方法。
下面对本发明实施例提供的计算机可读存储介质进行介绍，下文描述的计算机可读存储介质与上文描述的图像导航方法可相互对应参照。
本发明还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，计算机程序被处理器执行时实现上述的图像导航方法的步骤。
该计算机可读存储介质可以包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其它实施例的不同之处，各个实施例之间相同或相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。
专业人员还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功 能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应该认为超出本发明的范围。
结合本文中所公开的实施例描述的方法或算法的步骤可以直接用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器(RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系属于仅仅用来将一个实体或者操作与另一个实体或者操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语包括、包含或者其他任何变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。
以上对本发明所提供的图像导航方法、图像导航装置、图像导航设备和计算机可读存储介质进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (12)

  1. 一种图像导航方法，其特征在于，包括：
    获取导航路径，并确定所述导航路径中的多个指引节点；
    依据所述导航路径，获取各个所述指引节点对应的实景指引图像；
    利用所述实景指引图像组成实景指引图像集，并输出所述实景指引图像集。
  2. 根据权利要求1所述的图像导航方法，其特征在于，所述依据所述导航路径，获取各个所述指引节点对应的实景指引图像，包括：
    获取所述指引节点对应的全景图像；
    提取所述导航路径对应的指引信息；
    利用所述指引信息对所述全景图像进行标记，得到所述实景指引图像。
  3. 根据权利要求1所述的图像导航方法，其特征在于，所述依据所述导航路径，获取各个所述指引节点对应的实景指引图像，包括：
    提取所述导航路径对应的指引信息；
    根据所述指引信息对数据库中的预标记图像进行筛选，得到所述实景指引图像。
  4. 根据权利要求1所述的图像导航方法，其特征在于，所述依据所述导航路径，获取各个所述指引节点对应的实景指引图像，包括：
    提取所述导航路径对应的指引信息；
    将所述指引信息以及与所述指引节点对应的节点信息发送至服务端；
    接收所述服务端发送的所述实景指引图像。
  5. 根据权利要求2至4任一项所述的图像导航方法，其特征在于，所述利用所述实景指引图像组成实景指引图像集，并输出所述实景指引图像集，包括：
    根据所述指引信息对所有所述实景指引图像进行排序，得到所述实景指引图像集；
    输出所述实景指引图像集。
  6. 根据权利要求1所述的图像导航方法，其特征在于，所述获取导航路径，包括：
    确定路径起点和路径终点，并根据所述路径起点和所述路径终点生成预选路径；
    根据路径选择规则，从所述预选路径中确定所述导航路径。
  7. 根据权利要求6所述的图像导航方法，其特征在于，所述确定路径起点，包括：
    获取目标位置信息，利用所述目标位置信息确定所述路径起点；
    和/或，
    获取并解析起点选择指令，得到兴趣点；
    利用所述兴趣点对应的兴趣点信息确定所述路径起点。
  8. 根据权利要求1所述的图像导航方法，其特征在于，所述确定所述导航路径中的多个指引节点，包括：
    确定指引等级；
    根据所述指引等级对所述导航路径对应的预设指引节点进行过滤，得到多个所述指引节点。
  9. 根据权利要求1所述的图像导航方法，其特征在于，在所述输出所述实景指引图像集之后，还包括：
    获取并解析编辑指令，得到编辑信息；
    按照所述编辑信息对所述实景指引图像集进行编辑。
  10. 一种图像导航装置，其特征在于，包括：
    路径获取模块，用于获取导航路径，并确定所述导航路径中的多个指引节点；
    图像获取模块，用于依据所述导航路径，获取各个所述指引节点对应的实景指引图像；
    输出模块，用于利用所述实景指引图像组成实景指引图像集，并输出所述实景指引图像集。
  11. 一种图像导航设备，其特征在于，包括存储器和处理器，其中：
    所述存储器，用于保存计算机程序；
    所述处理器，用于执行所述计算机程序，以实现如权利要求1至9任一项所述的图像导航方法。
  12. 一种计算机可读存储介质，其特征在于，用于保存计算机程序，其中，所述计算机程序被处理器执行时实现如权利要求1至9任一项所述的图像导航方法。
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