WO2022110800A1 - 定位方法、装置、电子设备、存储介质及计算机程序产品 - Google Patents

定位方法、装置、电子设备、存储介质及计算机程序产品 Download PDF

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Publication number
WO2022110800A1
WO2022110800A1 PCT/CN2021/103082 CN2021103082W WO2022110800A1 WO 2022110800 A1 WO2022110800 A1 WO 2022110800A1 CN 2021103082 W CN2021103082 W CN 2021103082W WO 2022110800 A1 WO2022110800 A1 WO 2022110800A1
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Prior art keywords
positioning
signal
information
electronic device
image
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PCT/CN2021/103082
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English (en)
French (fr)
Inventor
张笑宇
焦飞
盛崇山
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浙江商汤科技开发有限公司
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Publication of WO2022110800A1 publication Critical patent/WO2022110800A1/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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • 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 technical field of computer vision, and in particular, to a positioning method, an apparatus, an electronic device, a storage medium and a computer program product.
  • AR Augmented Reality
  • robotics navigation and other fields.
  • exemplary when people move indoors and outdoors (for example, inside a large shopping mall, on a city road, etc.), they often need to determine their position through positioning and go to a destination through navigation.
  • the present disclosure provides a positioning method, apparatus, electronic device, storage medium and computer program product.
  • a positioning method comprising:
  • the positioning network corresponding to the first position information and the first position information, determine at least one target preset image that matches the environment image;
  • visual positioning is performed through the positioning network to obtain the second position information of the electronic device.
  • the determining at least one target preset image matching the environment image according to the positioning network corresponding to the first location information and the first location information includes:
  • the at least one preset image is filtered to obtain at least one target preset image matching the environment image.
  • the preset images used for visual positioning are filtered according to the first position information, and the preset images with similar scenes or textures that interfere with the visual positioning are filtered out, which can improve the accuracy of the visual positioning.
  • the first position information includes coordinate information where the electronic device is located, and the signal positioning is performed according to the at least one positioning signal to obtain the first position information of the electronic device, include:
  • the coordinate information where the electronic device is located is determined according to the first distance and the coordinate information of the signal source corresponding to the first positioning signal.
  • the coordinate information where the electronic device is located is determined, which not only provides a method for determining the coordinates where the electronic device is located.
  • the information method can also make the obtained coordinate information of the electronic device accurate.
  • the first location information includes information about a region where the electronic device is located, and the first location information of the electronic device is obtained by performing signal positioning according to the at least one positioning signal, include:
  • a first positioning signal is determined from the at least one positioning signal; and the area information corresponding to the first positioning signal is determined as the area information where the electronic device is located.
  • the first position information further includes coordinate information where the electronic device is located, and the first position information of the electronic device is obtained by performing signal positioning according to the at least one positioning signal ,include:
  • At least one third position information is obtained according to the at least one positioning signal and the signal fingerprint network, and the first position information of the electronic device is obtained according to the at least one third position information, which not only provides a method for determining the coordinates where the electronic device is located
  • the information method can also make the obtained coordinate information of the electronic device accurate.
  • filtering the at least one preset image according to the first position information to obtain at least one target preset image matching the environment image includes:
  • the designated preset image is determined to be the same as the coordinate information.
  • the environment image matches the target preset image.
  • the target preset image is a relatively accurate image obtained by filtering the first position information, the accuracy of the second position information can be improved.
  • the determining of the positioning network corresponding to the first location information includes:
  • a method for determining a positioning network corresponding to the first position information is provided, so that the determined positioning network can correspond to the first position information.
  • a positioning device comprising:
  • an acquisition part configured to acquire at least one positioning signal and an environmental image of the environment where the electronic device is located
  • a first positioning part configured to perform signal positioning according to the at least one positioning signal to obtain first position information of the electronic device
  • a determining part configured to determine at least one target preset image matching the environment image according to the positioning network corresponding to the first position information and the first position information;
  • the second positioning part is configured to perform visual positioning through the positioning network according to the environment image and the at least one target preset image to obtain the second position information of the electronic device.
  • the determining part is further configured to:
  • the at least one preset image is filtered to obtain at least one target preset image matching the environment image.
  • the first positioning part is further configured to:
  • the first location information includes area information where the electronic device is located, and the first positioning part is further configured to:
  • a first positioning signal is determined from the at least one positioning signal; and the area information corresponding to the first positioning signal is determined as the area information where the electronic device is located.
  • the first location information further includes coordinate information where the electronic device is located, and the first positioning part is further configured to:
  • the determining part is further configured to:
  • the designated preset image is determined to be the same as the designated preset image.
  • the target preset image that matches the environment image.
  • the determining part is further configured to:
  • an electronic device comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to invoke the instructions stored in the memory to execute the above method.
  • a computer-readable storage medium having computer program instructions stored thereon, the computer program instructions implementing the above method when executed by a processor.
  • a computer program product comprising computer readable code, in the case where the computer readable code is executed in an electronic device, a processor in the electronic device performs the above method.
  • At least one positioning signal and an environment image of the environment where the electronic device is located may be acquired, and signal positioning may be performed according to the at least one positioning signal to obtain the first position information of the electronic device.
  • a positioning network corresponding to the location information and the first location information determines at least one preset target image matching the environment image, and then according to the environment image and the at least one preset image of the target, through the The positioning network performs visual positioning to obtain second position information of the electronic device.
  • visual positioning is constrained by the first position information obtained from signal positioning, and accurate second position information can be obtained, thereby improving positioning accuracy.
  • FIG. 1 shows a schematic diagram of a positioning method according to an embodiment of the present disclosure
  • FIG. 2 shows a flowchart of a positioning method according to an embodiment of the present disclosure
  • FIG. 3 shows a flowchart of a positioning method according to an embodiment of the present disclosure
  • FIG. 4 shows a flowchart of a positioning method according to an embodiment of the present disclosure
  • FIG. 5 shows a schematic diagram of a positioning method according to an embodiment of the present disclosure
  • FIG. 6 shows a flowchart of a positioning method according to an embodiment of the present disclosure
  • FIG. 7 shows a flowchart of a positioning method according to an embodiment of the present disclosure
  • FIG. 8 shows a block diagram of a positioning apparatus according to an embodiment of the present disclosure
  • FIG. 9 shows a block diagram of an electronic device according to an embodiment of the present disclosure.
  • FIG. 10 shows a block diagram of an electronic device according to an embodiment of the present disclosure
  • FIG. 11 shows a schematic diagram of the arrangement of a fingerprint method signal source according to an embodiment of the present disclosure
  • FIG. 12 shows a schematic diagram of a fusion positioning process according to an embodiment of the present disclosure.
  • Indoor positioning is an important technical direction for the development of positioning requirements in the era of mobile Internet. Due to the weak GPS (Global Positioning System, global positioning system) positioning signal in the indoor environment, the positioning deviation is relatively large, and effective positioning information cannot be provided.
  • various sensors are used for positioning, the signal source is arranged in advance, and the attenuation characteristics of the signal are used for positioning.
  • the strength-based positioning method has low positioning accuracy, which can only reach a positioning accuracy of 1 to 10 m.
  • a visual positioning scheme can also be used to match the image information captured by the camera with the image information stored in the database to obtain the user's position information. The positioning accuracy is high, but due to the similarity of the image information (similar scene or texture, etc.) , which may cause visual positioning errors.
  • an embodiment of the present disclosure provides a positioning method, which can set multiple signal sources in each area, and the signal sources may include wireless broadband wireless fidelity (Wireless Fidelity, WiFi) devices, Bluetooth, Ultra Wide Band (Ultra Bandwidth) At least one of signal sources such as Wide Band, UWB).
  • wireless broadband wireless fidelity Wireless Fidelity, WiFi
  • WiFi Wireless Fidelity
  • Bluetooth Ultra Wide Band
  • UWB Wide Band
  • the vision-based positioning scheme uses the visual information captured by the camera to match the visual information in the database, so as to achieve high-precision positioning. Because the visual image contains a lot of information, the precise pose of the camera can be calculated through multi-view geometric relationships, and the error can reach the centimeter level. It is a high-precision and low-cost positioning solution. However, it is precisely because of the huge amount of data of visual information that visual positioning often depends on a huge data model. Therefore, in order to ensure real-time positioning and reasonably plan memory resources, the model can only cover a limited positioning area. For large venues and buildings, it is often necessary to divide areas in advance, establish visual models separately, and seek a balance between memory and speed. Furthermore, visual information is also easily disturbed by the scene.
  • Signal localization schemes rely on pre-arranged or existing fixed signal sources, and use the attenuation characteristics of signals to locate users. Since there are practical physical constraints on signal strength, signal location within the coverage area always gives reliable general location information. However, since the signal field strength of the indoor environment is affected by refraction absorption, etc., positioning methods such as Bluetooth WiFi can only achieve a positioning accuracy of 1 to 10m by signal strength, depending on the quality of the equipment, the density of the layout and the actual structure of the venue, etc. factor. Although the approximate area results of signal positioning are reliable, it is difficult to provide precise location information, which affects the provision of positioning services.
  • the embodiments of the present disclosure propose a fast area determination method based on signal positioning, so as to perform precise positioning in the corresponding data model and improve search efficiency and positioning efficiency.
  • the embodiment of the present disclosure proposes a positioning algorithm that integrates the signal and the visual positioning, and fuses the two positioning results to obtain reliable and accurate positioning. Positioning results.
  • the signal location can be performed by the signal strength of the signal source obtained by the electronic device, and the area information of the area where the electronic device is located can be obtained (wherein, the area can be a scene such as a venue, a building, etc., and the area information is used to identify the electronic device.
  • the identification information of the area where it is located for example: the area information may include the area name and/or coding information corresponding to the area) and the corresponding first location information, and according to the location network corresponding to the area information (the location network is pre-trained for use.
  • the neural network for positioning visually matches the environmental image collected by the electronic device, and obtains a preset image that matches the environmental image, wherein the environmental image is the image of the area where the electronic device is collected, and the preset image is a preset image. Images with location information in each area of the setting.
  • the preset image can be filtered through the first position information, and after filtering out the preset images with similar scenes or textures that interfere with the positioning, the filtered target preset image is obtained, and the preset image is filtered according to the target preset image and the environment image.
  • Visual positioning is performed through the positioning network to obtain second position information of the electronic device, where the second position information is the final positioning information of the electronic device.
  • the preset images that match the environmental images are image 1, image 2, image 3 and image 4, wherein image 1, image 2 and The position information of image 3 corresponds to position 1, position 2 and position 3 in area 1, respectively, and the position information of image 4 corresponds to position 4 in area 2).
  • a visual constraint method is used to analyze images including image 1, The preset images of Image 2, Image 3 and Image 4 are filtered, wherein the first position information is determined according to the signal sources 1 to 4, 8 and 9 selected from the signal sources 1 to 10 around the electronic device.
  • Image 4 is the target for positioning Preset images with similar scenes or textures that cause interference, and after filtering out image 4, the filtered target preset images (that is, image 1, image 2, and image 3) are obtained.
  • the image 3 and the environment image are visually positioned through the positioning network to obtain the second position information of the electronic device.
  • the positioning method provided by the embodiments of the present disclosure can constrain the visual positioning by the signal positioning result of the signal source, it can effectively reduce the probability of positioning errors in the visual positioning due to the similarity of the image information, and can effectively improve the positioning accuracy.
  • FIG. 2 shows a flowchart of a positioning method according to an embodiment of the present disclosure.
  • the positioning method may be executed by an electronic device such as a terminal device or a server, or may be executed by a processor or a chip, and the processor or chip may be applied to the electronic device,
  • the terminal device can be User Equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, Personal Digital Assistant (PDA), handheld device, computing device, vehicle-mounted device, wearable device etc.
  • UE User Equipment
  • PDA Personal Digital Assistant
  • the method may be implemented by a processor invoking computer-readable instructions stored in a memory.
  • the method may be performed by a server.
  • the positioning method may include:
  • step S21 at least one positioning signal of the environment where the electronic device is located and the environment image are acquired.
  • signal sources may be pre-arranged in each area (signal sources may include at least one of signal sources such as wireless broadband WiFi devices, Bluetooth, ultra-bandwidth, etc.), and the number and density of signal sources may be determined according to positioning requirements .
  • the electronic device can obtain the positioning signal by receiving the signal sent by the signal source or the scanned signal source information, for example: by scanning the wireless broadband WiFi device information, obtaining the WiFi signal, scanning the Bluetooth device information, obtaining the Bluetooth signal, receiving the ultra The signal sent by the bandwidth UWB gets the UWB signal.
  • the above-mentioned environmental image may be a two-dimensional image or a three-dimensional image collected by the electronic device itself or an image acquisition device externally connected to the electronic device for the environment of the current area, or the environment image may be a video collected for the current environment of the area. Video frame images in the data.
  • step S22 signal positioning is performed according to the at least one positioning signal to obtain first position information of the electronic device.
  • signal positioning of the electronic device may be performed according to the signal strength of at least one positioning signal to obtain the first position information of the electronic device.
  • signal positioning can be performed according to the signal strength of the positioning signal to determine the first position information of the electronic device; when there are multiple positioning signals, the first position information of the electronic device can be determined according to the signal strength of the positioning signal; The signal strength is used to perform signal positioning to determine the first position information of the electronic device.
  • several positioning signals with stronger signal strength can be selected from multiple positioning signals, and the signal positioning can be performed according to the signal strength of the selected positioning signals to determine the electronic equipment. 's first location information.
  • step S23 at least one target preset image matching the environment image is determined according to the positioning network corresponding to the first location information and the first location information.
  • a corresponding positioning network may be established for each area, and the positioning network may include a matching module and a positioning module, wherein the matching module may be used to obtain a preset image matching the environment image, and the positioning module may be used to The environment image and the preset image matching the environment image are visually positioned to obtain the second position information of the electronic device.
  • the area information corresponding to the first location information may be determined, and then the corresponding positioning network may be obtained according to the area information.
  • Preset images corresponding to each area information may be stored in the image library in advance, and each preset image has corresponding position information.
  • the preset image corresponding to the positioning network can be determined from the image library, the preset image matching the acquired image can be determined from the preset image, and the preset image matching the acquired image can be constrained according to the first position information , so that at least one target preset image can be obtained from the preset image according to the first position information.
  • a preset image whose distance from the first position information meets the constraint requirement (greater than the distance threshold) can be filtered out, and the preset image whose distance from the first position information does not meet the constraint requirement (less than the distance threshold) can be determined as the target preset image. set the image.
  • step S24 visual positioning is performed through the positioning network according to the environment image and the at least one target preset image to obtain second position information of the electronic device.
  • the electronic device can be visually positioned according to the environment image and at least one target preset image by the positioning module in the positioning network, and the output of the positioning network is the second position information of the electronic device, that is, the electronic device. positioning results.
  • the image information of area 1 can be collected to create multiple 3D point cloud images, and the localization network corresponding to area 1 can determine the similarity between the three-dimensional features of each 3D point cloud image and the three-dimensional features of the environment image and the environment image.
  • Match the 3D point cloud image, and perform visual positioning according to the 3D point cloud image that matches the environment image and the environment image for example: perform visual positioning service (Visual Positioning Service, VPS) visual positioning to obtain the second position of the electronic device Information
  • VPS Visual Positioning Service
  • At least one positioning signal and an environmental image of the environment in which the electronic device is located can be acquired, and signal positioning can be performed according to the at least one positioning signal, so as to obtain the first position information of the electronic device.
  • the visual positioning is constrained by the first position information obtained from the signal positioning, and the accurate second position information can be obtained, thereby improving the positioning accuracy.
  • At least one target preset matching the environment image is determined images, which can include:
  • step S231 a positioning network corresponding to the first location information is determined.
  • the positioning network corresponding to each region can be pre-trained, and for any region, the correspondence between the region information corresponding to the region and the corresponding positioning network can be established, that is, different region information has a corresponding relationship with it.
  • the location network can determine the area information corresponding to the first location information, and then determine the corresponding location network according to the area information, where the location network is the location network corresponding to the first location information.
  • step S232 matching processing is performed on the environment image through the positioning network to obtain at least one preset image that satisfies a matching condition with the environment image.
  • a preset image corresponding to the positioning network may be obtained from an image library.
  • the positioning network can extract the image features of the environment image and each preset image, and determine the similarity of the image features of the environment image and each preset image.
  • At least one preset image that satisfies the matching condition with the environmental image can be determined according to the similarity of the image features of the environmental image and each preset image, for example: it is determined that the preset image whose similarity is greater than the similarity threshold and the environmental image satisfy the matching condition,
  • the similarity threshold may be a preset value, and the value of the similarity threshold may be determined according to the positioning accuracy requirements.
  • the similarity threshold may be set to 95%. When the similarity of the image features is greater than 95%, it can be determined that the preset image and the environment image satisfy the matching condition, and then at least one preset image that satisfies the matching condition with the environment image is obtained.
  • step S233 filtering the at least one preset image according to the first position information to obtain at least one target preset image matching the environment image.
  • the distance between the position information of each preset image and the first position information can be determined, and then the position information of the preset image can be determined according to the position information of the preset image.
  • the size of the distance from the first position information determines at least one target preset image matching the environment image, wherein the target preset image is a preset image used for visual positioning of the first electronic device. For example, when the distance between the preset image and the first position information is smaller than the distance threshold, it can be determined that the preset image is a target preset image that matches the environment image.
  • the preset images used for visual positioning can be filtered according to the first position information, and the preset images with similar scenes or textures that interfere with the visual positioning can be filtered out, which can improve the accuracy of the visual positioning.
  • the above-mentioned first location information may include coordinate information where the electronic device is located.
  • signal positioning is performed according to the at least one positioning signal to obtain the electronic device.
  • the first location information of the device may include:
  • a first positioning signal is determined from the at least one positioning signal according to the signal strength of the at least one positioning signal.
  • a preset number of positioning signals with the strongest signal strength may be determined as the first positioning signal.
  • the strongest signal strength may be determined as the first positioning signals.
  • step S2202 a first distance between the first positioning signal and a signal source corresponding to the first positioning signal is determined according to the signal strength of the first positioning signal.
  • the signal type of the first positioning signal may be determined (the signal type may include wireless broadband WiFi signal, Bluetooth signal, ultra-wideband UWB signal, etc.), and different signal types have different positioning parameters , the positioning parameter of the first positioning signal can be determined according to the signal type of the first positioning signal, and then according to the signal strength of the first positioning signal and the positioning parameter of the first positioning signal, the first positioning signal corresponding to the first positioning signal can be determined.
  • the first distance of the signal source may include wireless broadband WiFi signal, Bluetooth signal, ultra-wideband UWB signal, etc.
  • the positioning parameters of the first positioning signal may include the signal strength and the environmental attenuation factor when the signal source and the electronic device are separated by one meter. According to the signal strength of the first positioning signal, the signal source and the electronic device are separated by one meter.
  • the process of determining the first distance between the first positioning signal and the signal source corresponding to the first positioning signal can refer to the following formula (1):
  • d can represent the first distance
  • RSSI can represent the signal strength of the first positioning signal
  • abs() represents the function used to find the absolute value of the integer
  • A can be used to represent the signal source and the electronic device are separated by one meter.
  • n can be used to represent the environmental attenuation factor.
  • step S2203 the coordinate information where the electronic device is located is determined according to the first distance and the coordinate information of the signal source corresponding to the first positioning signal.
  • the coordinate information of the three signal sources can be used as the origin ( In Figure 5, it is represented as (x1, y1), (x2, y2), (x3, y3)), and the first distance corresponding to each signal source is used as the radius to make a circle, and the intersection of the three circles obtained is the electronic device.
  • a more accurate result may also be obtained by continuously iteratively finding the intersection point, which will not be repeated in this embodiment of the present disclosure.
  • the coordinate information where the electronic device is located is determined, which not only provides a method for determining the coordinates where the electronic device is located.
  • the information method can also make the obtained coordinate information of the electronic device accurate.
  • the above-mentioned first location information may also include information about the area where the electronic device is located.
  • the signal location is performed according to the at least one location signal, and the result is obtained
  • the first location information of the electronic device may include:
  • step S2204 the area information corresponding to the at least one positioning signal is determined according to the identification information of the at least one positioning signal.
  • the positioning signal may carry identification information, and the identification information may be used to identify the signal source corresponding to the positioning signal.
  • the identification information carried by the WiFi signal may be the IP address of the WiFi.
  • the corresponding signal source can be determined according to the identification information, and then the area information of the area covered by the signal source can be determined as the area information corresponding to the positioning signal.
  • the area information may include area name and/or coding information corresponding to the area.
  • a plurality of signal sources (signal source 1, signal source 2, signal source 3 to signal source 6) are arranged in area 1, and a plurality of signal sources (signal source 7, signal source 3, signal source 6) are arranged in area 2.
  • Signal source 8, signal source 9, signal source 10 wherein, signal source 1, signal source 2, signal source 3 and signal source 6 are all associated with region 1, and signal source 7, signal source 8, signal source 9 and The signal sources 10 are all associated with the zone 2 .
  • the area information corresponding to the positioning signal can be determined to be the area 1; or it is determined that the identification information corresponding to the positioning signal identifies the signal source 10, then It can be determined that the area information corresponding to the positioning signal is area 2 .
  • step S2205 count the occurrence times of each area information in the area information corresponding to the at least one positioning signal, and determine the area information with the most occurrence times as the area information where the electronic device is located.
  • the number of occurrences of each area information may be counted, and then the area information with the largest number of occurrences is determined as the area information where the electronic device is located. For example, among the acquired 6 positioning signals, 4 positioning signals correspond to area 1, and 2 positioning signals correspond to area 2, then it can be determined that area 1 is the area information where the electronic device is located.
  • steps S2204 and S2205 may be replaced by steps S2206 and S2207:
  • step S2206 a first positioning signal is determined from the at least one positioning signal.
  • step S2207 the area information corresponding to the first positioning signal is determined as the area information where the electronic device is located.
  • the first positioning signal may be determined from at least one positioning signal according to the signal strength.
  • the first positioning signal may be the positioning signal with the strongest signal strength among all positioning signals, and the area information corresponding to the first positioning signal may be determined. Information about the area where the electronic device is located.
  • the first location information may further include coordinate information where the electronic device is located.
  • the signal positioning is performed according to the at least one positioning signal. , to obtain the first location information of the electronic device, which may include:
  • step S2208 a signal fingerprint network corresponding to the area information where the electronic device is located is determined.
  • a signal fingerprint network corresponding to the area information can be obtained according to the area information where the electronic device is located.
  • step S2209 at least one third location information is obtained according to the at least one positioning signal and the signal fingerprint network.
  • the signal strength of at least one positioning signal (or the position of the signal source corresponding to the positioning signal) can be formed into at least one signal fingerprint, and each signal fingerprint is used as the input information of the signal fingerprint network, and the signal fingerprint
  • at least one third location information can be obtained.
  • the signal strength of the positioning signal 1, the positioning signal 2 and the positioning signal 3 and the position of the signal source form a signal fingerprint
  • the signal fingerprint is used as the input information and input to the signal fingerprint network
  • the signal fingerprint network can output the corresponding third position information .
  • first location information of the electronic device is obtained according to the at least one third location information.
  • the first position information of the electronic device may be obtained by averaging or weighting the third position information.
  • the third position information can be divided into grids according to the positions, for example, divided into a 1m*1m grid, the grid with the largest number of third position information is determined, and the average of the third position information in the network is determined. The value is used as the first position information of the electronic device.
  • At least one third position information is obtained according to the at least one positioning signal and the signal fingerprint network, and the first position information of the electronic device is obtained according to the at least one third position information, which not only provides a method for determining the coordinates where the electronic device is located
  • the information method can also make the obtained coordinate information of the electronic device accurate.
  • the above-mentioned filtering the at least one preset image according to the first position information to obtain at least one target preset image matching the environment image may include:
  • the designated preset image is determined to be the same as the designated preset image.
  • the target preset image that matches the environment image.
  • the at least one preset image may be filtered according to the first position information.
  • the preset image has corresponding coordinate information, and the distance between the coordinate information of the preset image and the coordinate information of the electronic device is determined (the method for determining the distance between the coordinates is not specifically limited in this embodiment of the present disclosure, and any any method used to determine the distance between coordinates is acceptable).
  • the distance threshold is the preset value, if the distance between the coordinate information of the preset image and the coordinate information of the electronic device is less than distance threshold, it can be determined that the distance between the coordinate information of the preset image and the coordinate information of the electronic device satisfies the distance threshold), and the preset image is determined as the target preset image matching the environment image.
  • the preset image is filtered out and not used as the target preset image.
  • the target preset image After the target preset image is obtained, visual positioning can be performed according to the target preset image and the environment image to obtain the second position information of the electronic device, because the target preset image is a relatively accurate image obtained after filtering the first position information. , so the accuracy of the second position information can be improved.
  • determining the positioning network corresponding to the first location information may include:
  • Indexing is performed according to the area information where the electronic device is located, and the positioning network corresponding to the area information is determined as the positioning network corresponding to the first location information.
  • determining the positioning network corresponding to the first location information may include:
  • each area is trained with a corresponding positioning network
  • an association table for storing the correspondence between the positioning network and the area information can be established in advance, and the index can be performed in the association table according to the area information corresponding to the first location information. , to obtain the positioning network corresponding to the area information.
  • an index is performed in the association table according to the area information to obtain a positioning network corresponding to the area information.
  • the above positioning signal includes at least one of the following: a wireless broadband WiFi signal, a Bluetooth signal, and an ultra-wideband UWB signal.
  • the above-mentioned positioning signal may include multiple types, which can alleviate the problem that positioning cannot be performed or the positioning accuracy is poor due to poor signal quality of a certain type of positioning signal, and the positioning accuracy can be improved.
  • a method for determining a positioning network corresponding to the first position information is provided, so that the determined positioning network can correspond to the first position information.
  • the present disclosure also provides positioning devices, electronic devices, computer-readable storage media, and programs, all of which can be used to implement any positioning method provided by the present disclosure. Repeat.
  • FIG. 8 shows a block diagram of a positioning apparatus according to an embodiment of the present disclosure. As shown in FIG. 8 , the apparatus includes:
  • the acquiring part 81 can be configured to acquire at least one positioning signal and an environmental image of the environment where the electronic device is located;
  • the first positioning part 82 can be configured to perform signal positioning according to the at least one positioning signal to obtain the first position information of the electronic device;
  • the determining part 83 can be configured to determine at least one target preset image matching the environment image according to the positioning network corresponding to the first position information and the first position information;
  • the second positioning part 84 may be configured to perform visual positioning through the positioning network according to the environment image and the at least one target preset image to obtain the second position information of the electronic device.
  • At least one positioning signal and an environmental image of the environment in which the electronic device is located can be acquired, and signal positioning can be performed according to the at least one positioning signal, so as to obtain the first position information of the electronic device.
  • the visual positioning is constrained by the first position information obtained from the signal positioning, so that accurate second position information can be obtained, and the positioning accuracy can be improved.
  • the determining part 83 may also be configured as:
  • the at least one preset image is filtered to obtain at least one target preset image matching the environment image.
  • the first positioning portion 82 may also be configured as:
  • the coordinate information where the electronic device is located is determined according to the first distance and the coordinate information of the signal source corresponding to the first positioning signal.
  • the first location information includes area information where the electronic device is located, and the first positioning part 82 may also be configured as:
  • a first positioning signal is determined from the at least one positioning signal; and the area information corresponding to the first positioning signal is determined as the area information where the electronic device is located.
  • the first location information further includes coordinate information where the electronic device is located, and the first positioning part 82 may also be configured as:
  • the determining part 83 may also be configured as:
  • the designated preset image is determined to be the same as the designated preset image.
  • the target preset image that matches the environment image.
  • the determining part 83 may also be configured as:
  • the functions or included parts of the apparatus provided in the embodiments of the present disclosure may be configured to execute the methods described in the above method embodiments, and the specific implementation may refer to the above method embodiments. For brevity, I won't go into details here.
  • Embodiments of the present disclosure further provide a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is implemented.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium.
  • An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory configured to store instructions executable by the processor; wherein the processor is configured to invoke the instructions stored in the memory to execute the above method.
  • Embodiments of the present disclosure also provide a computer program product, including computer-readable code, when the computer-readable code is run on a device, a processor in the device executes a method configured to implement the positioning method provided in any of the above embodiments. instruction.
  • Embodiments of the present disclosure further provide another computer program product for storing computer-readable instructions, which, when executed, cause the computer to perform the operations of the positioning method provided by any of the foregoing embodiments.
  • the electronic device may be provided as a terminal, server or other form of device.
  • FIG. 9 shows a block diagram of an electronic device 900 according to an embodiment of the present disclosure.
  • electronic device 900 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc. terminal.
  • an electronic device 900 may include one or more of the following components: a processing component 902, a memory 904, a power supply component 906, a multimedia component 908, an audio component 910, an input/output (I/O) interface 912, a sensor component 914 , and the communication component 916 .
  • the processing component 902 generally controls the overall operation of the electronic device 900, such as operations associated with display, phone calls, data communications, camera operations, and recording operations.
  • the processing component 902 may include one or more processors 920 to execute instructions to perform all or some of the steps of the methods described above. Additionally, processing component 902 may include one or more modules to facilitate interaction between processing component 902 and other components. For example, processing component 902 may include a multimedia module to facilitate interaction between multimedia component 908 and processing component 902.
  • Memory 904 is configured to store various types of data to support operation at electronic device 900 . Examples of such data include instructions for any application or method operating on electronic device 900, contact data, phonebook data, messages, pictures, videos, and the like. Memory 904 may be implemented by any type of volatile or non-volatile storage device or 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 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 or Optical Disk Magnetic Disk
  • Power supply assembly 906 provides power to various components of electronic device 900 .
  • Power supply components 906 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 900 .
  • Multimedia component 908 includes a screen that provides an output interface between the electronic device 900 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 a user.
  • the touch panel includes one or more touch sensors to sense touch, swipe, and gestures on the touch panel. The touch sensor may not only sense the boundaries of a touch or swipe action, but also detect the duration and pressure associated with the touch or swipe action.
  • the multimedia component 908 includes a front-facing camera and/or a rear-facing camera. When the electronic device 900 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each of the front and rear cameras can be a fixed optical lens system or have focal length and optical zoom capability.
  • Audio component 910 is configured to output and/or input audio signals.
  • audio component 910 includes a microphone (MIC) that is configured to receive external audio signals when electronic device 900 is in operating modes, such as calling mode, recording mode, and voice recognition mode. The received audio signal may be further stored in memory 904 or transmitted via communication component 916 .
  • audio component 910 also includes a speaker for outputting audio signals.
  • the I/O interface 912 provides an interface between the processing component 902 and a peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to: home button, volume buttons, start button, and lock button.
  • Sensor assembly 914 includes one or more sensors for providing status assessments of various aspects of electronic device 900 .
  • the sensor assembly 914 can detect the open/closed state of the electronic device 900, the relative positioning of the components, such as the display and the keypad of the electronic device 900, the sensor assembly 914 can also detect the electronic device 900 or one of the electronic devices 900 Changes in the position of components, presence or absence of user contact with the electronic device 900 , orientation or acceleration/deceleration of the electronic device 900 and changes in the temperature of the electronic device 900 .
  • Sensor assembly 914 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact.
  • Sensor assembly 914 may also include a light sensor, such as a complementary metal oxide semiconductor (CMOS) or charge coupled device (CCD) image sensor, for use in imaging applications.
  • CMOS complementary metal oxide semiconductor
  • CCD charge coupled device
  • the sensor assembly 914 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 916 is configured to facilitate wired or wireless communication between electronic device 800 and other devices.
  • the electronic device 900 may access a wireless network based on a communication standard, such as wireless network (WiFi), second generation mobile communication technology (2G) or third generation mobile communication technology (3G), or a combination thereof.
  • the communication component 916 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component 916 also includes a near field communication (NFC) module to facilitate short-range communication.
  • the NFC module may 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
  • electronic device 900 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A programmed gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation is used to perform the above method.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A programmed gate array
  • controller microcontroller, microprocessor or other electronic component implementation is used to perform the above method.
  • a non-volatile computer-readable storage medium such as a memory 904 comprising computer program instructions executable by the processor 920 of the electronic device 900 to perform the above method is also provided.
  • FIG. 10 shows a block diagram of an electronic device according to an embodiment of the present disclosure.
  • the electronic device 1900 may be provided as a server.
  • electronic device 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource, represented by memory 1932, for storing instructions executable by processing component 1922, such as applications.
  • An application program stored in 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 above-described methods.
  • the electronic device 1900 may also include a power supply assembly 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 a Microsoft server operating system (Windows Server TM ), a graphical user interface based operating system (Mac OS X TM ) introduced by Apple, a multi-user multi-process computer operating system (Unix TM ), Free and Open Source Unix-like Operating System (Linux TM ), Open Source Unix-like Operating System (FreeBSD TM ) or the like.
  • Microsoft server operating system Windows Server TM
  • Mac OS X TM graphical user interface based operating system
  • Uniix TM multi-user multi-process computer operating system
  • Free and Open Source Unix-like Operating System Linux TM
  • FreeBSD TM Open Source Unix-like Operating System
  • a non-volatile computer-readable storage medium such as memory 1932 comprising computer program instructions executable by processing component 1922 of electronic device 1900 to perform the above-described method.
  • the positioning method, device, electronic device, storage medium, and computer program product provided by the embodiments of the present disclosure locate the user by integrating the signal scheme and vision.
  • the rough positioning result of the signal positioning is used as the position prior to filter and filter the matching of the visual positioning, thereby improving the reliability and accuracy of the visual positioning.
  • the technical process of fast area positioning based on the signal area library the input of this process is the signal Media Access Control Address (MAC) address and name searched by the user, and the output is the venue and area where the user is located.
  • MAC Media Access Control Address
  • the output is the venue and area where the user is located.
  • a "signal-area coding database" should be established for all covered positioning venues and areas.
  • the data storage format of each signal source is: MAC name (Name) - venue/area code.
  • the signal source information scanned by the user is used as an index to search in the "signal-area code database", and the venue/area code found by the counter is counted. After all received signal sources are searched, the area with the highest votes will be used as the result of this area positioning. Since the online operation stage of the algorithm only has query and counting operations, the user's venue/area information can be quickly obtained, and the corresponding signal positioning and visual positioning models can be loaded by region.
  • the technical process of high-reliability range location determination based on signal positioning is the signal code of the venue area, the MAC and signal strength obtained by the user equipment, and the output is the result of signal positioning.
  • the Bluetooth WIFI signal positioning model established in advance is used to locate the "signal source address-strength" sequence received by the user.
  • the positioning model can be located by the positioning principle of three-point positioning, that is, the signal source position is determined in advance. , use the intensity distance formula to calculate the distance of the nearest three points, and then calculate the user's position through the three-point positioning principle.
  • the user can also be located by the fingerprint method positioning model, that is, the location of the to-be-located area-wireless Received Signal Strength Indicator (RSSI) fingerprint database information is established in advance in the acquisition stage, Algorithms such as K-Nearest Neighbor (KNN) find the most matching signal fingerprint to locate the user.
  • RSSI Received Signal Strength Indicator
  • KNN K-Nearest Neighbor
  • the signal location model based on signal strength RSSI can obtain the general location information of the user, which is used as a prior location and a constraint of visual location in this fusion algorithm.
  • FIG. 11 shows a schematic diagram of the arrangement of a fingerprint method signal source according to an embodiment of the present disclosure.
  • the signal source may include a signal fingerprint network.
  • the signal fingerprint network corresponding to the area information can be obtained according to the area information where the electronic device is located.
  • At least one signal fingerprint composed of the signal strength of the signal is used as the input information of the signal fingerprint network to obtain at least one third position information.
  • the first position information of the electronic device is obtained according to the at least one third position information.
  • the signal fingerprint network included in the signal source A2 corresponding to the area A1 can be used to determine at least one third position information.
  • the signal fingerprint network included in the signal source B2 corresponding to the area B1 may be used to determine at least one third piece of location information.
  • the electronic device may determine that the electronic device is closer to the area according to the acquired signal strengths of signals sent by different signal sources.
  • the process of integrating signal positioning for visual positioning to obtain accurate positioning results is the prior result of signal positioning, the visual image information to be positioned, and the output is the accurate visual positioning result.
  • the visual model of the sparse point cloud is established by using the original image data acquisition through the Mapping operation.
  • the model is divided into large venue areas to optimize memory usage and ensure search efficiency.
  • Each submodel can be indexed by a venue/area code.
  • the visual model is loaded through the region position index obtained in the first step.
  • the visual model By matching the visual features of the image to be located with the visual model, dozens of database pictures with good matching are extracted.
  • the position prior information provided in the second step filters out the wrong matching caused by the repeated textures of similar scenes in the database, so that the calculated pose is more reasonable and accurate.
  • FIG. 12 shows a schematic diagram of a fusion positioning process according to an embodiment of the present disclosure.
  • the signal localization model is established according to the signal acquisition
  • the visual model is established according to the visual acquisition
  • the signal localization model is archived to form a signal-venue/area database.
  • the online positioning stage according to the signal MAC or name of the signal-venue/area database, and according to the image and signal information, determine the venue/area location, and then use the area model index number to perform rough signal location.
  • the result of the signal rough location (which can correspond to The first position information of the electronic device) can further update the signal positioning model, and the rough signal positioning can be obtained through at least one of the position prior and the position constraint, which can be matched with the visual model to obtain the visual fine positioning, and finally output The positioning result (which may correspond to the second position information of the electronic device).
  • the present disclosure may be a system, method and/or computer program product.
  • the computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the present disclosure.
  • a computer-readable storage medium may be a tangible device that can hold and store instructions for use 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.
  • Non-exhaustive list of 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 sticks, floppy disks, mechanically coded devices, such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above.
  • RAM random access memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • flash memory static random access memory
  • SRAM static random access memory
  • CD-ROM compact disk read only memory
  • DVD digital versatile disk
  • memory sticks floppy disks
  • mechanically coded devices such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above.
  • Computer-readable storage media are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.
  • the computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over 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, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • a network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .
  • Computer program instructions for carrying out operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or instructions in one or more programming languages.
  • Source or object code written in any combination, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as the "C" language or similar programming languages.
  • the computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement.
  • the remote computer may 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 may be connected to an external computer (eg, using an Internet service provider through the Internet connect).
  • LAN local area network
  • WAN wide area network
  • custom electronic circuits such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs) can be personalized by utilizing state information of computer readable program instructions.
  • Computer readable program instructions are executed to implement various aspects of the present disclosure.
  • These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.
  • These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.
  • Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions.
  • the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.
  • the computer program product can be specifically implemented by hardware, software or a combination thereof.
  • the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc. Wait.
  • a software development kit Software Development Kit, SDK
  • At least one positioning signal and an environment image of the environment in which the electronic device is located are acquired, and signal positioning is performed according to the at least one positioning signal, so as to obtain the first position information of the electronic device, and the positioning network and the first position information corresponding to the first position information are obtained.
  • a position information determine at least one target preset image that matches the environment image, and then perform visual positioning through a positioning network according to the environment image and at least one target preset image to obtain the second position information of the electronic device.
  • the first position information of the electronic device obtained from the positioning constrains the visual positioning, and accurate second position information of the electronic device can be obtained, thereby improving the positioning accuracy.

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Abstract

一种定位方法、装置、电子设备(900,1900)、存储介质(904,1932)及计算机程序产品，定位方法包括：获取电子设备(900,1900)所处环境的至少一个定位信号及环境图像(S21)；根据至少一个定位信号进行信号定位，得到电子设备(900,1900)的第一位置信息(S22)；根据第一位置信息对应的定位网络及第一位置信息，确定与环境图像相匹配的至少一个目标预置图像(S23)；根据环境图像及至少一个目标预置图像，通过定位网络进行视觉定位，得到电子设备(900,1900)的第二位置信息(S24)。

Description

定位方法、装置、电子设备、存储介质及计算机程序产品
相关申请的交叉引用
本专利申请要求2020年11月26日提交的中国专利申请号为202011347506.1，申请名称为“定位方法及装置、电子设备和存储介质”的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本公开涉及计算机视觉技术领域，尤其涉及一种定位方法、装置、电子设备、存储介质及计算机程序产品。
背景技术
随着科技的发展，定位技术应用到很多领域，例如：增强现实(Augmented Reality，AR)设备、机器人、导航等领域。示例性的，人们在室内外(例如大型商场内部、城市道路上等)行动时，经常需要通过定位确定自己的位置，通过导航前往目的地。
发明内容
本公开提出了一种定位方法、装置、电子设备、存储介质及计算机程序产品。
根据本公开的一方面，提供了一种定位方法，包括：
获取电子设备所处环境的至少一个定位信号及环境图像；
根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息；
根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像；
根据所述环境图像及所述至少一个目标预置图像，通过所述定位网络进行视觉定位，得到所述电子设备的第二位置信息。
在一种可能的实现方式中，所述根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像，包括：
确定与所述第一位置信息对应的定位网络；
通过所述定位网络对所述环境图像进行匹配处理，得到与所述环境图像满足匹配条件的至少一个预置图像；
根据所述第一位置信息，对所述至少一个预置图像进行过滤，得到与所述环境图像相匹配的至少一个目标预置图像。
这样，根据第一位置信息对用于进行视觉定位的预置图像进行过滤，将对视觉定位存在干扰的具有相似场景或者纹理的预置图像过滤掉，能够提高视觉定位的精度。
在一种可能的实现方式中，所述第一位置信息包括所述电子设备所处的坐标信息，所述根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，包括：
根据所述至少一个定位信号的信号强度，从所述至少一个定位信号中确定第一定位信号；
根据所述第一定位信号的信号强度，确定所述第一定位信号与所述第一定位信号对应的信号源的第一距离；
根据所述第一距离及所述第一定位信号对应的信号源的坐标信息，确定所述电子设备所处的坐标信息。
这样，通过第一定位信号与第一定位信号对应的信号源的第一距离，以及该信号源的坐标信息，确定电子设备所处的坐标信息，不仅提供了一种确定电子设备所处的坐标信息的方法，还能够使得到的电子设备所处的坐标信息准确。
在一种可能的实现方式中，所述第一位置信息包括所述电子设备所处的区域信息，所述根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，包括：
根据所述至少一个定位信号的标识信息，确定所述至少一个定位信号对应的区域信息；统计所述至少一个定位信号对应的区域信息中，各区域信息的出现次数，将出现次数最多的区域信息确定为所述电子设备所处的区域信息；
或者，
从所述至少一个定位信号中确定第一定位信号；将所述第一定位信号对应的区域信息确定为所述电子设备所处的区域信息。
这样，通过将至少一个定位信号中，出现次数最多的区域信息确定为电子设备所处的区域信息，或者，将第一定位信号对应的区域信息确定为电子设备所处的区域信息，不仅提供了一种确定电子设备所处的坐标信息的方法，还能够使得到的电子设备所处的坐标信息准确。
在一种可能的实现方式中，所述第一位置信息还包括所述电子设备所处的坐标信息，所述根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，包括：
确定所述电子设备所处的区域信息所对应的信号指纹网络；
根据所述至少一个定位信号及所述信号指纹网络，得到至少一个第三位置信息；
根据所述至少一个第三位置信息，得到所述电子设备的第一位置信息。
这样，根据至少一个定位信号及信号指纹网络，得到至少一个第三位置信息，并根据至少一个第三位置信息，得到电子设备的第一位置信息，不仅提供了一种确定电子设备所处的坐标信息的方法，还能够使得到的电子设备所处的坐标信息准确。
在一种可能的实现方式中，所述根据所述第一位置信息，对所述至少一个预置图像进行过滤，得到与所述环境图像相匹配的至少一个目标预置图像，包括：
在所述至少一个预置图像中的指定预置图像对应的坐标信息，与所述电子设备所处的坐标信息之间的距离满足距离阈值的情况下，将所述指定预置图像确定为与所述环境图像相匹配的目标预置图像。
这样，由于目标预置图像是经过第一位置信息过滤后得到的比较准确的图像，故能够提高第二位置信息的精度。
在一种可能的实现方式中，所述确定与所述第一位置信息对应的定位网络，包括：
根据所述电子设备所处的区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络；
或者，
确定所述第一位置信息对应的区域信息；根据所述区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络。
这样，提供了一种确定与第一位置信息对应的定位网络的方法，从而确定的定位网络能够与第一位置信息相对应。
根据本公开的一方面，提供了一种定位装置，包括：
获取部分，被配置为获取电子设备所处环境的至少一个定位信号及环境图像；
第一定位部分，被配置为根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息；
确定部分，被配置为根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像；
第二定位部分，被配置为根据所述环境图像及所述至少一个目标预置图像，通过所述定位网络进行视觉定位，得到所述电子设备的第二位置信息。
在一种可能的实现方式中，所述确定部分，还被配置为：
确定与所述第一位置信息对应的定位网络；
通过所述定位网络对所述环境图像进行匹配处理，得到与所述环境图像满足匹配条件的至少一个预置图像；
根据所述第一位置信息，对所述至少一个预置图像进行过滤，得到与所述环境图像相匹配的至少一个目标预置图像。
在一种可能的实现方式中，所述第一定位部分，还被配置为：
根据所述至少一个定位信号的信号强度，从所述至少一个定位信号中确定第一定位信号；根据所述第一定位信号的信号强度，确定所述第一定位信号与所述第一定位信号对应的信号源的第一距离；根据所述第一距离及所述第一定位信号对应的信号源的坐标信息，确定所述电子设备所处的坐标信息。
在一种可能的实现方式中，所述第一位置信息包括所述电子设备所处的区域信息，所述第一定位部分，还被配置为：
根据所述至少一个定位信号的标识信息，确定所述至少一个定位信号对应的区域信息；统计所述至少一个定位信号对应的区域信息中，各区域信息的出现次数，将出现次数最多的区域信息确定为所述电子设备所处的区域信息；
或者，
从所述至少一个定位信号中确定第一定位信号；将所述第一定位信号对应的区域信息确定为所述电子设备所处的区域信息。
在一种可能的实现方式中，所述第一位置信息还包括所述电子设备所处的坐标信息，所述第一定位部分，还被配置为：
确定所述电子设备所处的区域信息所对应的信号指纹网络；
根据所述至少一个定位信号及所述信号指纹网络，得到至少一个第三位置信息；
根据所述至少一个第三位置信息，得到所述电子设备的第一位置信息。
在一种可能的实现方式中，所述确定部分还被配置为：
在所述至少一个预置图像中的指定预置图像对应的坐标信息与所述电子设备所处的坐标信息之间的距离满足距离阈值的情况下，将所述指定预置图像确定为与所述环境图像相匹配的目标预置图像。
在一种可能的实现方式中，所述确定部分还被配置为：
根据所述电子设备所处的区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络；
或者，
确定所述第一位置信息对应的区域信息；根据所述区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络。
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调用所述存储器存储的指令，以执行上述 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方法。
根据本公开的一方面，提供了一种计算机程序产品，包括计算机可读代码，在所述计算机可读代码在电子设备中运行的情况下，所述电子设备中的处理器执行上述方法。
在本公开实施例中，可以获取电子设备所处环境的至少一个定位信号及环境图像，并根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像，进而根据所述环境图像及所述至少一个目标预置图像，通过所述定位网络进行视觉定位，得到所述电子设备的第二位置信息。根据本公开实施例提供的定位方法及装置、电子设备和存储介质，通过信号定位得到的第一位置信息对视觉定位进行约束，能够得到精准的第二位置信息，进而提高定位精度。
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示意图；
图2示出根据本公开实施例的定位方法的流程图；
图3示出根据本公开实施例的定位方法的流程图；
图4示出根据本公开实施例的定位方法的流程图；
图5示出根据本公开实施例的定位方法的示意图；
图6示出根据本公开实施例的定位方法的流程图；
图7示出根据本公开实施例的定位方法的流程图；
图8示出根据本公开实施例的定位装置的框图；
图9示出根据本公开实施例的一种电子设备的框图；
图10示出根据本公开实施例的一种电子设备的框图；
图11示出根据本公开实施例的一种指纹法信号源布置示意图；
图12示出根据本公开实施例的一种融合定位流程的示意图。
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。
室内定位是移动互联时代定位需求发展的重要技术方向，由于室内环境中GPS(Global Positioning System，全球定位系统)定位信号弱，导致定位偏差比较大，进而无法提供有效的定位信息。为了在室内环境下提供较准确的定位，采用各种传感器进行定位，提前布置信号源，利用信号的衰减特性进行定位，但是由于室内环境的信号场强度受折射吸收等影响，导致通过传感器的信号强度进行定位的方法定位精度较低，只能达到1至10m的定位精度。还可以采用视觉定位方案，利用摄像头拍摄的图像信息与数据库中存储的图像信息做匹配，从而得到用户的位置信息，定位精度较高，但是由于图像信息的相似性(场景相似或者纹理相似等)，可能会导致视觉定位出错。
为了提高定位的精度，本公开实施例提供了一种定位方法，可以在各个区域设置多个信号源，信号源可以包括无线宽带无线保真(Wireless Fidelity，WiFi)设备、蓝牙、超带宽(Ultra Wide Band，UWB)等信号源中的至少一项。
其中，基于视觉的定位方案是利用摄像头拍摄的视觉信息与数据库中的视觉信息做匹配，从而实现高精度的定位。由于视觉图像中包含大量的信息，可以通过多视几何关系解算出摄像头精确位姿，误差可以达到厘米级别，是一种高精度低成本的定位方案。但是正是因为视觉信息巨大的数据量，视觉定位往往要依赖于巨大的数据模型，因此为了保证实时定位并合理规划内存资源，模型只能覆盖有限的定位区域。对于大型场馆楼宇往往需要提前划分区域，分别建立视觉模型，寻求内存和速度的平衡。再者，视觉信息也容易受到场景的干扰，相似场景，重复纹理以及场馆环境变化都有可能导致视觉定位出现完全错误的结果。信号定位方案依赖于提前布置或已有的固定信号源，利用信号的衰减特性对用户进行定位。由于信号强度存在实际的物理约束，因此在覆盖区域内信号定位总是能给出可靠的大体位置信息。然而由于室内环境的信号场强度受折射吸收等等影响，蓝牙WiFi等通过信号强度进行定位的方法只能达到1至10m的定位精度，具体取决于布设设备质量，布设密度和场馆实际结构等等因素。信号定位的大致区域结果虽然可靠，但难以提供精确的位置信息，影响定位服务的提供。
针对视觉定位模型内存消耗大难以覆盖大型场馆和楼宇的问题，本公开实施例提出基于信号定位的快速区域确定方法，从而在对应的数据模型中进行精确定位，提升搜索效率和定位效率。针对信号定位结果粗略，误差不稳定的问题而视觉定位容易受到干扰而错误定位的问题，本公开实施例提出信号与视觉定位相融合的定位算法，融合两者定位结果，获得即可靠又精准的定位结果。
如图1所示，可以通过电子设备获取的信号源的信号强度进行信号定位，得到电子设备所处区域的区域信息(其中，区域可以为场馆、大厦等场景，区域信息为用于标识电子设备所处的区域的标识信息，例如：区域信息可以包括区域对应的区域名称和/或编码信息)和对应的第一位置信息，并根据区域信息对应的定位网络(该定位网络为预先训练的用于进行定位的神经网络)对电子设备所采集的环境图像进行视觉匹配，得到与环境图像相匹配的预置图像，其中，环境图像为电子设备采集的所处区域的图像，预置图像为预先设置的各个区域中的具有位置信息的图像。
通过第一位置信息可以对预置图像进行过滤，将对定位造成干扰的具有相似场景或者纹理的预置图像过滤掉后，得到过滤后的目标预置图像，并根据目标预置图像与环境图像通过定位网络进行视觉定位，得到电子设备的第二位置信息，该第二位置信息即为 电子设备最终的定位信息。
示例性的，如图1所示，利用视觉匹配的方法，从图像库中确定与环境图像相匹配的预置图像为图像1、图像2、图像3和图像4，其中图像1、图像2和图像3的位置信息分别对应区域1中的位置1、位置2和位置3，图像4的位置信息对应区域2中的位置4)，通过第一位置信息采用视觉约束的方法，对包括图像1、图像2、图像3和图像4的预置图像进行过滤，其中，第一位置信息是根据从电子设备周围的信号源1至10选择的信号源1至4、8和9所确定的。由于图像1、图像2、图像3与第一位置信息之间的距离小于距离阈值，图像4对应的位置信息与第一位置信息之间的距离大于距离阈值，故可以确定图像4为将对定位造成干扰的具有相似场景或者纹理的预置图像，并将图像4过滤掉后，得到过滤后的目标预置图像(也即图像1、图像2、图像3)，并根据图像1、图像2、图像3与环境图像通过定位网络进行视觉定位，得到电子设备的第二位置信息。
本公开实施例提供的定位方法，由于可以通过信号源的信号定位结果对视觉定位进行约束，因此可以有效降低视觉定位因为图像信息的相似性而定位出错的概率，可以有效提高定位精准度。
图2示出根据本公开实施例的定位方法的流程图，所述定位方法可以由终端设备或服务器等电子设备执行，或者可以处理器或芯片执行，处理器或芯片可以应用于电子设备中，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，所述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。或者，可通过服务器执行所述方法。
如图2所示，所述定位方法可以包括：
在步骤S21中，获取电子设备所处环境的至少一个定位信号及所述环境图像。
在本实施例中，可以预先在各个区域布置信号源(信号源可以包括无线宽带WiFi设备、蓝牙、超带宽等信号源中的至少一项)，信号源的数量及密度可以根据定位需求进行确定。电子设备可以通过接收信号源发出的信号，或者扫描到的信号源信息，得到定位信号，例如：通过扫描到的无线宽带WiFi设备信息，得到WiFi信号，扫描蓝牙设备信息，得到蓝牙信号，接收超带宽UWB发出的信号，得到UWB信号。
上述环境图像可以为电子设备通过自身携带或者电子设备外接的图像采集设备，针对当前所处区域的环境采集的二维图像或者三维图像，或者环境图像可以为针对当前所述区域的环境采集的视频数据中的视频帧图像。
在步骤S22中，根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息。
在本实施例中，可以根据至少一个定位信号的信号强度对电子设备进行信号定位，得到电子设备的第一位置信息。例如：在仅具有一个定位信号的情况下，可以根据该定位信号的信号强度进行信号定位，确定电子设备的第一位置信息；在具有多个定位信号的情况下，可以根据多个定位信号的信号强度进行信号定位，确定电子设备的第一位置信息，或者，可以从多个定位信号中选取信号强度较强的几个定位信号，根据选择的定位信号的信号强度进行信号定位，确定电子设备的第一位置信息。
在步骤S23中，根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像。
在本实施例中，针对各个区域可以建立对应的定位网络，该定位网络可以包括匹配模块及定位模块，其中匹配模块可以用于得到与环境图像相匹配的预置图像，定位模块可以用于根据环境图像及与环境图像相匹配的预置图像进行视觉定位，得到电子设备的 第二位置信息。
示例性的，在得到电子设备对应的第一位置信息后，可以确定该第一位置信息对应的区域信息，进而根据该区域信息得到对应的定位网络。可以预先在图像库中存储各个区域信息对应的预置图像，各预置图像具有对应的位置信息。可以从图像库中确定该定位网络对应的预置图像，并从预置图像中确定与采集图像相匹配的预置图像，并根据第一位置信息对与采集图像相匹配的预置图像进行约束，以根据第一位置信息可以从预置图像中得到至少一个目标预置图像。例如：与第一位置信息的距离满足约束要求(大于距离阈值)的预置图像可以过滤掉，与第一位置信息的距离不满足约束要求(小于距离阈值)的预置图像可以确定为目标预置图像。
在步骤S24中，根据所述环境图像及所述至少一个目标预置图像，通过所述定位网络进行视觉定位，得到所述电子设备的第二位置信息。
在本实施例中，可以通过定位网络中的定位模块根据环境图像与至少一个目标预置图像对电子设备进行视觉定位，该定位网络的输出即为电子设备的第二位置信息，也即电子设备的定位结果。
例如：针对区域1，可以采集区域1的图像信息建立多个3D点云图像，区域1对应的定位网络可以根据各个3D点云图像的三维特征与环境图像的三维特征的相似度确定与环境图像相匹配的3D点云图像，并根据与环境图像相匹配的3D点云图像与环境图像进行视觉定位，例如：进行视觉定位服务(Visual Positioning Service，VPS)视觉定位，得到电子设备的第二位置信息，实际上，本公开实施例对于视觉定位的方式不做具体限定，任一视觉定位的方式均可适用于本公开实施例中。
这样，可以获取电子设备所处环境的至少一个定位信号及环境图像，并根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像，进而根据所述环境图像及所述至少一个目标预置图像，通过所述定位网络进行视觉定位，得到所述电子设备的第二位置信息。根据本公开实施例提供的定位方法，通过信号定位得到的第一位置信息对视觉定位进行约束，能够得到精准的第二位置信息，进而提高定位精度。
在一种可能的实现方式中，参照图3，上述步骤S23，根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像，可以包括：
在步骤S231中，确定与所述第一位置信息对应的定位网络。
在本实施例中，可以预先训练各区域对应的定位网络，针对任一区域，可以建立该区域对应的区域信息与对应的定位网络之间的对应关系，也即不同的区域信息具有与之对应的定位网络，可以确定第一位置信息对应的区域信息，进而可以根据区域信息确定对应的定位网络，该定位网络为与第一位置信息对应的定位网络。
在步骤S232中，通过所述定位网络对所述环境图像进行匹配处理，得到与所述环境图像满足匹配条件的至少一个预置图像。
在得到第一位置信息对应的定位网络之后，可以从图像库中获取该定位网络对应的预置图像。定位网络可以提取环境图像与各预置图像的图像特征，并确定环境图像与各预置图像的图像特征的相似度。
可以根据环境图像与各预置图像的图像特征的相似度，确定与环境图像满足匹配条件的至少一个预置图像，例如：确定相似度大于相似度阈值的预置图像与环境图像满足匹配条件，其中相似度阈值可以为预设的数值，该相似度阈值的取值可以根据定位精度需求进行确定，示例性的，可以设置相似度阈值为95％，在预置图像的图像特征与环境 图像的图像特征的相似度大于95％的情况下，可以确定该预置图像与环境图像满足匹配条件，进而得到与环境图像满足匹配条件的至少一个预置图像。
在步骤S233中，根据所述第一位置信息，对所述至少一个预置图像进行过滤，得到与所述环境图像相匹配的至少一个目标预置图像。
在本实施例中，在得到与环境图像满足匹配条件的至少一个预置图像后，可以确定各预置图像的位置信息与第一位置信息之间的距离，进而可以根据预置图像的位置信息与第一位置信息之间的距离大小，确定与环境图像相匹配的至少一个目标预置图像，其中，目标预置图像为用于对第一电子设备进行视觉定位的预置图像。例如：在预置图像与第一位置信息之间的距离小于距离阈值的情况下，可以确定该预置图像为与环境图像相匹配的目标预置图像。
这样一来，可以根据第一位置信息对用于进行视觉定位的预置图像进行过滤，将对视觉定位存在干扰的具有相似场景或者纹理的预置图像过滤掉，能够提高视觉定位的精度。
在一种可能的实现方式中，参照图4，上述第一位置信息可以包括所述电子设备所处的坐标信息，所述步骤S22，根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，可以包括：
在步骤S2201中，根据所述至少一个定位信号的信号强度，从所述至少一个定位信号中确定第一定位信号。
举例来说，可以将至少一个定位信号中，信号强度最强的预置数量个定位信号，确定为第一定位信号，例如：在采用三点定位法的情况下，可以将信号强度最强的3个定位信号确定为第一定位信号。
在步骤S2202中，根据所述第一定位信号的信号强度，确定所述第一定位信号与所述第一定位信号对应的信号源的第一距离。
举例来说，在确定第一定位信号后，可以确定第一定位信号的信号类别(信号类别可以包括无线宽带WiFi信号、蓝牙信号、超带宽UWB信号等)，不同的信号类别具有不同的定位参数，可以根据该第一定位信号的信号类别确定第一定位信号的定位参数，进而根据第一定位信号的信号强度及第一定位信号的定位参数，确定第一定位信号与第一定位信号对应的信号源的第一距离。
示例性的，第一定位信号的定位参数可以包括信号源与电子设备相隔一米的情况下的信号强度及环境衰减因子，可以根据第一定位信号的信号强度、信号源与电子设备相隔一米的情况下的信号强度及环境衰减因子，则确定第一定位信号与第一定位信号对应的信号源的第一距离的过程，可以参照下述公式(1)：
d＝10^((abs(RSSI)-A)/(10*n)    (1)；
其中，d可以表示第一距离，RSSI可以表示第一定位信号的信号强度，其中abs()表示用于求整数的绝对值的函数，A可以用于表示信号源与电子设备相隔一米的情况下的信号强度，n可以用于表示环境衰减因子。
在步骤S2203中，根据所述第一距离及所述第一定位信号对应的信号源的坐标信息，确定所述电子设备所处的坐标信息。
以三点定位为例，参照图5，在得到三个第一定位信号对应的第一距离(图5中表示为d1、d2、d3)后，可以以三个信号源的坐标信息为原点(图5中表示为(x1，y1)、(x2，y2)、(x3，y3))，以各信号源对应的第一距离作为半径做圆，求得的三个圆的交点即为电子设备所处的坐标信息(x0，y0)。或者，还可以通过不断迭代求交点的方式得到更为精准的结果，本公开实施例在此不再赘述。
这样，通过第一定位信号与第一定位信号对应的信号源的第一距离，以及该信号源 的坐标信息，确定电子设备所处的坐标信息，不仅提供了一种确定电子设备所处的坐标信息的方法，还能够使得到的电子设备所处的坐标信息准确。
在一种可能的实现方式中，上述第一位置信息还可以包括所述电子设备所处的区域信息，参照图6，所述步骤S22，所述根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，可以包括：
在步骤S2204中，根据所述至少一个定位信号的标识信息，确定所述至少一个定位信号对应的区域信息。
举例来说，定位信号可以携带有标识信息，该标识信息可以用于标识该定位信号对应的信号源，例如：定位信号为WiFi信号，则WiFi信号携带的标识信息可以为WiFi的IP地址。在得到定位信号的标识信息后，可以根据该标识信息确定对应的信号源，进而可以确定布置该信号源所覆盖区域的区域信息为该定位信号对应的区域信息。其中，区域信息可以包括区域对应的区域名称和/或编码信息。
示例性的，如图1所示，在区域1布置有多个信号源(信号源1、信号源2、信号源3直到信号源6)，区域2布置有多个信号源(信号源7、信号源8、信号源9、信号源10)，其中，信号源1、信号源2、信号源3直到信号源6均与区域1具有关联关系，信号源7、信号源8、信号源9和信号源10均与区域2具有关联关系。在获得定位信号后，确定定位信号对应的标识信息标识的是信号源1，则可以确定该定位信号对应的区域信息为区域1；或者确定定位信号对应的标识信息标识的是信号源10，则可以确定该定位信号对应的区域信息为区域2。
在步骤S2205中，统计所述至少一个定位信号对应的区域信息中，各区域信息的出现次数，将出现次数最多的区域信息确定为所述电子设备所处的区域信息。
举例来说，在得到各个定位信号的对应的区域信息后，可以统计各个区域信息出现的次数，进而将出现次数最多的区域信息确定为电子设备所处的区域信息。例如：获取的6个定位信号中，4个定位信号对应区域1，2个定位信号对应区域2，则可以确定区域1为电子设备所处的区域信息。
或者，在一些实施例中，步骤S2204和步骤S2205，可以用步骤S2206和步骤S2207代替：
在步骤S2206中，从所述至少一个定位信号中确定第一定位信号。
在步骤S2207中，将所述第一定位信号对应的区域信息确定为所述电子设备所处的区域信息。
其中，可以根据信号强度，从至少一个定位信号中确定第一定位信号，例如：第一定位信号可以为所有定位信号中信号强度最强的定位信号，可以将第一定位信号对应的区域信息确定为电子设备所处的区域信息。
这样，通过将至少一个定位信号中，出现次数最多的区域信息确定为电子设备所处的区域信息，或者，将第一定位信号对应的区域信息确定为电子设备所处的区域信息，不仅提供了一种确定电子设备所处的坐标信息的方法，还能够使得到的电子设备所处的坐标信息准确。
在一种可能的实现方式中，参照图7，所述第一位置信息还可以包括所述电子设备所处的坐标信息，所述步骤S12中，所述根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，可以包括：
在步骤S2208中，确定所述电子设备所处的区域信息所对应的信号指纹网络。
举例来说，在确定电子设备所处的区域信息后，可以根据电子设备所处的区域信息，得到该区域信息对应的信号指纹网络，该信号指纹网络可以为预训练的用于根据定位信号的信号强度及信号源的位置进行定位的神经网络，每一区域信息存在对应的信号指纹 网络。
在步骤S2209中，根据所述至少一个定位信号及所述信号指纹网络，得到至少一个第三位置信息。
在得到信号指纹网络之后，可以将至少一个定位信号的信号强度(或者还可以包括定位信号对应的信号源的位置)组成至少一个信号指纹，将各个信号指纹作为信号指纹网络的输入信息，信号指纹网络依次对上述输入信息进行处理后，可以得到至少一个第三位置信息。例如：将定位信号1、定位信号2和定位信号3的信号强度和信号源的位置组成一个信号指纹，将该信号指纹作为输入信息输入信号指纹网络，信号指纹网络可以输出对应的第三位置信息。
S2210中，根据所述至少一个第三位置信息，得到所述电子设备的第一位置信息。
在得到至少一个第三位置信息后，可以通过对第三位置信息进行求平均值或者加权求和的方式，得到电子设备的第一位置信息。或者，可以将第三位置信息按照位置进行网格划分，例如：划分为1m*1m的网格，确定第三位置信息个数最多的网格，并将该网络中的第三位置信息的平均值作为电子设备的第一位置信息。
这样，根据至少一个定位信号及信号指纹网络，得到至少一个第三位置信息，并根据至少一个第三位置信息，得到电子设备的第一位置信息，不仅提供了一种确定电子设备所处的坐标信息的方法，还能够使得到的电子设备所处的坐标信息准确。
在一种可能的实现方式中，上述所述根据所述第一位置信息，对所述至少一个预置图像进行过滤，得到与所述环境图像相匹配的至少一个目标预置图像，可以包括：
在所述至少一个预置图像中的指定预置图像对应的坐标信息与所述电子设备所处的坐标信息之间的距离满足距离阈值的情况下，将所述指定预置图像确定为与所述环境图像相匹配的目标预置图像。
举例来说，在通过定位网络对采集图像进行匹配处理，得到与环境图像满足匹配条件的至少一个预置图像后，可以根据第一位置信息对该至少一个预置图像进行过滤。示例性的，预置图像具有对应的坐标信息，确定预置图像的坐标信息与电子设备的坐标信息之间的距离(确定坐标之间距离的方法，本公开实施例不作具体限定，任一用于确定坐标之间的距离的方法均可以)。
在预置图像的坐标信息与电子设备的坐标信息之间的距离满足距离阈值的情况下(距离阈值为预设的数值，若预置图像的坐标信息与电子设备的坐标信息之间的距离小于距离阈值，则可以确定预置图像的坐标信息与电子设备的坐标信息之间的距离满足距离阈值)，将该预置图像确定为与环境图像相匹配的目标预置图像。
在预置图像的坐标信息与电子设备的坐标信息之间的距离不满足距离阈值的情况下(若预置图像的坐标信息与电子设备的坐标信息之间的距离大于或者等于距离阈值，则可以确定预置图像的坐标信息与电子设备的坐标信息之间的距离不满足距离阈值)，将该预置图像过滤掉，不作为目标预置图像。
得到目标预置图像后，可以根据目标预置图像及环境图像进行视觉定位，得到电子设备所处的第二位置信息，由于目标预置图像是经过第一位置信息过滤后得到的比较准确的图像，故能够提高第二位置信息的精度。
在一种可能的实现方式中，上述步骤S2031中，确定与所述第一位置信息对应的定位网络，可以包括：
根据所述电子设备所处的区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络。
在一种可能的实现方式中，上述步骤S2031中，确定与所述第一位置信息对应的定位网络，可以包括：
确定所述第一位置信息对应的区域信息；根据所述区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络。
举例来说，各个区域训练有对应的定位网络，可以预先建立用于存储定位网络与区域信息之间的对应关系的关联表，可以根据第一位置信息对应的区域信息在该关联表中进行索引，以得到该区域信息对应的定位网络。或者可以根据第一位置信息对应的坐标信息，确定该坐标信息所属的区域信息后，根据该区域信息在该关联表中进行索引，以得到该区域信息对应的定位网络。
在一种可能的实现方式中，上述定位信号包括如下中的至少一项：无线宽带WiFi信号、蓝牙信号、超带宽UWB信号。
举例来说，上述定位信号可以包括多种类型，可以缓解某一类型的定位信号的信号质量不佳导致无法定位或者定位精度差的问题，能够提高定位精度。
这样，提供了一种确定与第一位置信息对应的定位网络的方法，从而确定的定位网络能够与第一位置信息相对应。
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。本领域技术人员可以理解，在具体实施方式的上述方法中，各步骤的具体执行顺序应当以其功能和可能的内在逻辑确定。
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。
图8示出根据本公开实施例的定位装置的框图，如图8所示，所述装置包括：
获取部分81，可以被配置为获取电子设备所处环境的至少一个定位信号及环境图像；
第一定位部分82，可以被配置为根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息；
确定部分83，可以被配置为根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像；
第二定位部分84，可以被配置为根据所述环境图像及所述至少一个目标预置图像，通过所述定位网络进行视觉定位，得到所述电子设备的第二位置信息。
这样，可以获取电子设备所处环境的至少一个定位信号及环境图像，并根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像，进而根据所述环境图像及所述至少一个目标预置图像，通过所述定位网络进行视觉定位，得到所述电子设备的第二位置信息。根据本公开实施例提供的定位装置，通过信号定位得到的第一位置信息对视觉定位进行约束，可以得到精准的第二位置信息，能够提高定位精度。
在一种可能的实现方式中，所述确定部分83，还可以被配置为：
确定与所述第一位置信息对应的定位网络；
通过所述定位网络对所述环境图像进行匹配处理，得到与所述环境图像满足匹配条件的至少一个预置图像；
根据所述第一位置信息，对所述至少一个预置图像进行过滤，得到与所述环境图像相匹配的至少一个目标预置图像。
在一种可能的实现方式中，所述第一定位部分82，还可以被配置为：
根据所述至少一个定位信号的信号强度，从所述至少一个定位信号中确定第一定位 信号；
根据所述第一定位信号的信号强度，确定所述第一定位信号与所述第一定位信号对应的信号源的第一距离；
根据所述第一距离及所述第一定位信号对应的信号源的坐标信息，确定所述电子设备所处的坐标信息。
在一种可能的实现方式中，所述第一位置信息包括所述电子设备所处的区域信息，所述第一定位部分82，还可以被配置为：
根据所述至少一个定位信号的标识信息，确定所述至少一个定位信号对应的区域信息；统计所述至少一个定位信号对应的区域信息中，各区域信息的出现次数，将出现次数最多的区域信息确定为所述电子设备所处的区域信息；
或者，
从所述至少一个定位信号中确定第一定位信号；将所述第一定位信号对应的区域信息确定为所述电子设备所处的区域信息。
在一种可能的实现方式中，所述第一位置信息还包括所述电子设备所处的坐标信息，所述第一定位部分82，还可以被配置为：
确定所述电子设备所处的区域信息所对应的信号指纹网络；
根据所述至少一个定位信号及所述信号指纹网络，得到至少一个第三位置信息；
根据所述至少一个第三位置信息，得到所述电子设备的第一位置信息。
在一种可能的实现方式中，所述确定部分83，还可以被配置为：
在所述至少一个预置图像中的指定预置图像对应的坐标信息与所述电子设备所处的坐标信息之间的距离满足距离阈值的情况下，将所述指定预置图像确定为与所述环境图像相匹配的目标预置图像。
在一种可能的实现方式中，所述确定部分83，还可以被配置为：
根据所述电子设备所处的区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络；
或者，
确定所述第一位置信息对应的区域信息；根据所述区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络。
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部分可以被配置为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。
本公开实施例还提出一种电子设备，包括：处理器；被配置为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，以执行上述方法。
本公开实施例还提供了一种计算机程序产品，包括计算机可读代码，当计算机可读代码在设备上运行时，设备中的处理器执行被配置为实现如上任一实施例提供的定位方法的指令。
本公开实施例还提供了另一种计算机程序产品，用于存储计算机可读指令，指令被执行时使得计算机执行上述任一实施例提供的定位方法的操作。
电子设备可以被提供为终端、服务器或其它形态的设备。
图9示出根据本公开实施例的一种电子设备900的框图。例如，电子设备900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9，电子设备900可以包括以下一个或多个组件：处理组件902，存储器904，电源组件906，多媒体组件908，音频组件910，输入/输出(I/O)的接口912，传感器组件914，以及通信组件916。
处理组件902通常控制电子设备900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902可以包括一个或多个处理器920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902可以包括一个或多个模块，便于处理组件902和其他组件之间的交互。例如，处理组件902可以包括多媒体模块，以方便多媒体组件908和处理组件902之间的交互。
存储器904被配置为存储各种类型的数据以支持在电子设备900的操作。这些数据的示例包括用于在电子设备900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904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906为电子设备900的各种组件提供电力。电源组件906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900生成、管理和分配电力相关联的组件。
多媒体组件908包括在所述电子设备900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908包括一个前置摄像头和/或后置摄像头。当电子设备900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910被配置为输出和/或输入音频信号。例如，音频组件910包括一个麦克风(MIC)，当电子设备900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904或经由通信组件916发送。在一些实施例中，音频组件910还包括一个扬声器，用于输出音频信号。
I/O接口912为处理组件902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914包括一个或多个传感器，用于为电子设备900提供各个方面的状态评估。例如，传感器组件914可以检测到电子设备900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900的显示器和小键盘，传感器组件914还可以检测电子设备900或电子设备900一个组件的位置改变，用户与电子设备900接触的存在或不存在，电子设备900方位或加速/减速和电子设备900的温度变化。传感器组件914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914还可以包括光传感器，如互补金属氧化物半导体(CMOS)或电荷耦合装置(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914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916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900可以接入基于通信标准的无线网络，如无线网络(WiFi)，第二代移动通信技术(2G)或第三代移动通信技术(3G)，或它们的组合。在一个示例性实施例中，通信组件916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916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900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904，上述计算机程序指令可由电子设备900的处理器920执行以完成上述方法。
图10示出根据本公开实施例的一种电子设备的框图。例如，电子设备1900可以被提供为一服务器。参照图10，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，例如微软服务器操作系统(Windows Server TM)，苹果公司推出的基于图形用户界面操作系统(Mac OS X TM)，多用户多进程的计算机操作系统(Unix TM),自由和开放原代码的类Unix操作系统(Linux TM)，开放原代码的类Unix操作系统(FreeBSD TM)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。
本公开实施例提供的定位方法、装置、电子设备、存储介质及计算机程序产品，采用信号方案与视觉相融合的方式对用户进行定位：在一方面，利用信号定位高可靠的区域范围确定来划定用户的区域和/或范围编码；在另一方面，利用信号定位的粗略的定位结果作为位置先验过滤和筛选视觉定位的匹配，从而提高视觉定位的可靠性和准确率。
本公开实施例可以包括以下三个主要的技术流程：
第一，基于信号区域库的快速区域定位的技术流程，该流程输入为用户搜索到的信号媒体存取控制位址(Media Access Control Address，MAC)地址及名称，输出为用户所在的场馆及区域。首先在数据采集阶段，要对所有已覆盖的定位场馆及区域建立“信号-区域编码数据库”。每个信号源的数据存储格式为：MAC名称(Name)-场馆/区域编码。
在实际定位阶段，首先将用户扫描到的信号源信息作为索引在“信号-区域编码数据库”中进行查找，利用计数器统计查找出的场馆/区域编码。所有接收到的信号源查找结束后，得票最高的区域作为本次区域定位的结果。由于算法的在线运算阶段只有查询和计数操作，因此可以快速得到用户的场馆/区域信息，从而按区域加载对应的信号定位和视觉定位模型。
第二，基于信号定位的高可靠范围位置确定的技术流程，该流程输入为场馆区域信号编码，用户设备获取的MAC及信号强度，输出为信号定位的结果。在实施过程中，利用提前建立的蓝牙WIFI信号定位模型，对用户接收到的“信号源地址-强度”序列做定位，定位模型可以通过三点定位的定位原理进行定位，即提前确定信号源位置，使用强度距离公式计算最近三点距离，并进通过三点定位原理而计算出用户位置。
在另一些实施例中，也可以通过指纹法定位模型对用户进行定位，即事先在采集阶段建立待定位区域的位置-无线接收信号强度(Received Signal Strength Indicator，RSSI)指纹库信息，在通过K最近邻(K-Nearest Neighbor，KNN)等算法寻找最匹配的信号指纹从而对用户进行定位。
基于信号强度RSSI的信号定位模型可以得到用户的大体位置信息，在本融合算法中作为视觉定位的先验位置和一项约束。
图11示出根据本公开实施例的一种指纹法信号源布置示意图。如图11所示，信号源可以包括信号指纹网络，在确定电子设备所处的区域信息后，可以根据电子设备所处的区域信息，得到该区域信息对应的信号指纹网络，将将至少一个定位信号的信号强度组成的至少一个信号指纹作为信号指纹网络的输入信息，得到至少一个第三位置信息。然后，根据所述至少一个第三位置信息，得到所述电子设备的第一位置信息。
在图11中，在电子设备距离区域A1较近的情况下，可以采用区域A1对应的信号源A2所包括的信号指纹网络，来确定至少一个第三位置信息。在电子设备距离区域B1较近的情况下，可以采用区域B1对应的信号源B2所包括的信号指纹网络，来确定至少一个第三位置信息。在实施过程中，电子设备可以根据获取的不同信号源所发出信号的信号强度确定电子设备距离那个区域较近。
第三，融合信号定位进行视觉定位从而获得精确的定位结果的流程，该流程的输入为信号定位的先验结果，待定位的视觉图像信息，输出为精确的视觉定位结果。
在模型建立阶段，利用原始图像数据采集通过建图(Mapping)操作建立稀疏点云的视觉模型。并对大型场馆区域切分模型以优化内存占用，保证搜索效率。每一个子模型可由场馆/区域编码索引。
在线定位阶段，通过第一步得到的区域位置索引加载该视觉模型。通过待定位图像的视觉特征与该视觉模型做匹配，提取出匹配较好的数十张数据库图片。再有第二步提供的位置先验信息过滤掉数据库中由于相似场景重复纹理导致的错误匹配，从而使得解算出的位姿更加合理准确。
图12示出根据本公开实施例的一种融合定位流程的示意图。如图12所示，在离线建模阶段，根据信号采集进行信号定位模型建立，根据视觉采集进行视觉模型建立，信号定位模型通过归档形成信号-场馆/区域数据库。到在线定位阶段，根据信号-场馆/区域数据库的信号MAC或名称，以及根据图像及信号信息，确定场馆/区域定位，接着通过区域模型索引编号进行信号粗定位，信号粗定位的结果(可以对应电子设备的第一位置信息)可以进一步更新信号定位模型，信号粗定位可以通过位置先验和位置约束中的至少一者得到的结果，可以与视觉模型进行匹配，进而得到视觉精定位，最后输出定位结果(可以对应电子设备的第二位置信息)。
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。
该计算机程序产品可以具体通过硬件、软件或其结合的方式实现。在一个可选实施例中，所述计算机程序产品具体体现为计算机存储介质，在另一个可选实施例中，计算机程序产品具体体现为软件产品，例如软件开发包(Software Development Kit，SDK)等等。
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的技术的改进，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。
工业实用性
本实施例中，获取电子设备所处环境的至少一个定位信号及环境图像，并根据至少一个定位信号进行信号定位，得到电子设备的第一位置信息，根据第一位置信息对应的定位网络及第一位置信息，确定与环境图像相匹配的至少一个目标预置图像，进而根据环境图像及至少一个目标预置图像，通过定位网络进行视觉定位，得到电子设备的第二位置信息，这样，通过信号定位得到的电子设备的第一位置信息对视觉定位进行约束，能够得到精准的电子设备的第二位置信息，进而提高定位精度。

Claims (17)

  1. 一种定位方法，包括：
    获取电子设备所处环境的至少一个定位信号及环境图像；
    根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息；
    根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像；
    根据所述环境图像及所述至少一个目标预置图像，通过所述定位网络进行视觉定位，得到所述电子设备的第二位置信息。
  2. 根据权利要求1所述的方法，其中，所述根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像，包括：
    确定与所述第一位置信息对应的定位网络；
    通过所述定位网络对所述环境图像进行匹配处理，得到与所述环境图像满足匹配条件的至少一个预置图像；
    根据所述第一位置信息，对所述至少一个预置图像进行过滤，得到与所述环境图像相匹配的至少一个目标预置图像。
  3. 根据权利要求1或2所述的方法，其中，所述第一位置信息包括所述电子设备所处的坐标信息，所述根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，包括：
    根据所述至少一个定位信号的信号强度，从所述至少一个定位信号中确定第一定位信号；
    根据所述第一定位信号的信号强度，确定所述第一定位信号与所述第一定位信号对应的信号源的第一距离；
    根据所述第一距离及所述第一定位信号对应的信号源的坐标信息，确定所述电子设备所处的坐标信息。
  4. 根据权利要求1或2所述的方法，其中，所述第一位置信息包括所述电子设备所处的区域信息，所述根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，包括：
    根据所述至少一个定位信号的标识信息，确定所述至少一个定位信号对应的区域信息；统计所述至少一个定位信号对应的区域信息中，各区域信息的出现次数，将出现次数最多的区域信息确定为所述电子设备所处的区域信息；
    或者，
    从所述至少一个定位信号中确定第一定位信号；将所述第一定位信号对应的区域信息确定为所述电子设备所处的区域信息。
  5. 根据权利要求1或2所述的方法，其中，所述第一位置信息还包括所述电子设备所处的坐标信息，所述根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息，包括：
    确定所述电子设备所处的区域信息所对应的信号指纹网络；
    根据所述至少一个定位信号及所述信号指纹网络，得到至少一个第三位置信息；
    根据所述至少一个第三位置信息，得到所述电子设备的第一位置信息。
  6. 根据权利要求2所述的方法，其中，所述根据所述第一位置信息，对所述至少一个预置图像进行过滤，得到与所述环境图像相匹配的至少一个目标预置图像，包括：
    在所述至少一个预置图像中的指定预置图像对应的坐标信息，与所述电子设备所处的坐标信息之间的距离满足距离阈值的情况下，将所述指定预置图像确定为与所述环境图像相匹配的目标预置图像。
  7. 根据权利要求2或6中所述的方法，其中，所述确定与所述第一位置信息对应的定位网络，包括：
    根据所述电子设备所处的区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络；
    或者，
    确定所述第一位置信息对应的区域信息；根据所述区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络。
  8. 一种定位装置，包括：
    获取部分，被配置为获取电子设备所处环境的至少一个定位信号及环境图像；
    第一定位部分，被配置为根据所述至少一个定位信号进行信号定位，得到所述电子设备的第一位置信息；
    确定部分，被配置为根据所述第一位置信息对应的定位网络及所述第一位置信息，确定与所述环境图像相匹配的至少一个目标预置图像；
    第二定位部分，被配置为根据所述环境图像及所述至少一个目标预置图像，通过所述定位网络进行视觉定位，得到所述电子设备的第二位置信息。
  9. 根据权利要求8所述的装置，其中，所述确定部分，还被配置为：
    确定与所述第一位置信息对应的定位网络；
    通过所述定位网络对所述环境图像进行匹配处理，得到与所述环境图像满足匹配条件的至少一个预置图像；
    根据所述第一位置信息，对所述至少一个预置图像进行过滤，得到与所述环境图像相匹配的至少一个目标预置图像。
  10. 根据权利要求8或9所述的装置，其中，所述第一定位部分，还被配置为：
    根据所述至少一个定位信号的信号强度，从所述至少一个定位信号中确定第一定位信号；根据所述第一定位信号的信号强度，确定所述第一定位信号与所述第一定位信号对应的信号源的第一距离；根据所述第一距离及所述第一定位信号对应的信号源的坐标信息，确定所述电子设备所处的坐标信息。
  11. 根据权利要求8或9所述的装置，其中，所述第一位置信息包括所述电子设备所处的区域信息，所述第一定位部分，还被配置为：
    根据所述至少一个定位信号的标识信息，确定所述至少一个定位信号对应的区域信息；统计所述至少一个定位信号对应的区域信息中，各区域信息的出现次数，将出现次数最多的区域信息确定为所述电子设备所处的区域信息；
    或者，
    从所述至少一个定位信号中确定第一定位信号；将所述第一定位信号对应的区域信息确定为所述电子设备所处的区域信息。
  12. 根据权利要求8或9所述的装置，其中，所述第一位置信息还包括所述电子设备所处的坐标信息，所述第一定位部分，还被配置为：
    确定所述电子设备所处的区域信息所对应的信号指纹网络；
    根据所述至少一个定位信号及所述信号指纹网络，得到至少一个第三位置信息；
    根据所述至少一个第三位置信息，得到所述电子设备的第一位置信息。
  13. 根据权利要求9所述的装置，其中，所述确定部分还被配置为：
    在所述至少一个预置图像中的指定预置图像对应的坐标信息与所述电子设备所处的坐标信息之间的距离满足距离阈值的情况下，将所述指定预置图像确定为与所述环境图像相匹配的目标预置图像。
  14. 根据权利要求9或13所述的装置，其中，所述确定部分还被配置为：
    根据所述电子设备所处的区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络；
    或者，
    确定所述第一位置信息对应的区域信息；
    根据所述区域信息进行索引，将所述区域信息对应的定位网络，确定为所述与所述第一位置信息对应的定位网络。
  15. 一种电子设备，包括：
    处理器；
    被配置为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7中任意一项所述的方法。
  16. 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权利要求1至7中任意一项所述的方法。
  17. 一种计算机程序产品，包括计算机可读代码，在所述计算机可读代码在电子设备中运行的情况下，所述电子设备中的处理器执行如权利要求1至7任一项所述的方法。
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