WO2022179080A1 - 定位方法、装置、电子设备、存储介质、程序及产品 - Google Patents

定位方法、装置、电子设备、存储介质、程序及产品 Download PDF

Info

Publication number
WO2022179080A1
WO2022179080A1 PCT/CN2021/117191 CN2021117191W WO2022179080A1 WO 2022179080 A1 WO2022179080 A1 WO 2022179080A1 CN 2021117191 W CN2021117191 W CN 2021117191W WO 2022179080 A1 WO2022179080 A1 WO 2022179080A1
Authority
WO
WIPO (PCT)
Prior art keywords
electronic device
position information
reference object
target reference
information
Prior art date
Application number
PCT/CN2021/117191
Other languages
English (en)
French (fr)
Chinese (zh)
Inventor
卢金莲
张建博
Original Assignee
深圳市慧鲤科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市慧鲤科技有限公司 filed Critical 深圳市慧鲤科技有限公司
Priority to JP2022534856A priority Critical patent/JP7387002B2/ja
Publication of WO2022179080A1 publication Critical patent/WO2022179080A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/003—Navigation within 3D models or images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/006—Mixed reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present disclosure relates to the field of computer technology, and in particular, to a positioning method, apparatus, electronic device, storage medium, program and product.
  • AR Augmented Reality
  • the present disclosure provides a positioning method, apparatus, electronic device, storage medium, program and product.
  • a positioning method applied to an electronic device comprising:
  • the electronic device is positioned according to the first location information and the second location information to obtain real-time location information of the electronic device.
  • the accuracy of the first position information of the tracking and positioning of the electronic device can be determined, so as to obtain the real-time position information of the electronic device, and the electronic device can be improved.
  • the following positioning accuracy can improve the user experience.
  • the positioning of the electronic device according to the first position information and the second position information to obtain the real-time position information of the electronic device includes:
  • the electronic device is positioned according to the deviation value of the first position information and the difference threshold, so as to obtain real-time position information of the electronic device.
  • the positioning method provided by the embodiments of the present disclosure can correct the position information of the electronic device in time, improve the positioning accuracy of the electronic device, and improve the user experience.
  • the positioning of the electronic device according to the deviation value of the first position information and the difference threshold to obtain the real-time position information of the electronic device includes:
  • the corrected position information is used as the real-time position information of the electronic device.
  • the positioning method provided by the embodiments of the present disclosure can correct the position information of the electronic device in time, improve the positioning accuracy of the electronic device, and improve the user experience.
  • the performing position correction on the electronic device to obtain corrected position information includes:
  • the target reference object determine the device calibration condition that the electronic device satisfies
  • the position of the electronic device is corrected to obtain the corrected position information.
  • the positioning method provided by the embodiments of the present disclosure can correct the position of the electronic device by using an appropriate correction method, and can improve the correction efficiency while improving the accuracy of the position information of the electronic device.
  • the device calibration condition includes a first calibration condition
  • the position calibration is performed on the electronic device according to the calibration mode corresponding to the device calibration condition satisfied by the electronic device, and the obtained
  • the correction location information including:
  • the second position information is determined to be the corrected position information.
  • the positioning method provided by the embodiment of the present disclosure can directly use the second position information as the correction position information, which can improve the correction efficiency and the positioning accuracy of the electronic device.
  • the determining the device calibration condition satisfied by the electronic device according to the target reference object includes:
  • the electronic device determines that the electronic device satisfies the first correction condition.
  • the distance between the target reference object and the electronic device can be determined by determining the distance between the target reference object and the electronic device, or by determining the size information of the target reference object in the image information. In the case of being sufficiently small, it is determined that the electronic device satisfies the first correction condition, thereby providing a way of determining that the electronic device satisfies the first correction condition.
  • the device calibration condition includes a second calibration condition
  • the position calibration is performed on the electronic device according to the calibration mode corresponding to the device calibration condition satisfied by the electronic device, and the obtained
  • the correction location information including:
  • the third position information is the corrected position information.
  • the positioning method provided by the embodiments of the present disclosure can correct the position of the electronic device by re-positioning the electronic device visually, and can improve the positioning accuracy of the electronic device.
  • performing visual positioning on the electronic device to obtain third position information of the electronic device including:
  • the electronic device Under the condition that the environment image around the electronic device is collected, the electronic device is visually positioned according to the environment image, and the third position information of the electronic device is obtained.
  • the positioning method provided by the embodiment of the present disclosure can guide the user to move the electronic device through prompt information, and then collect the surrounding environment images for visual positioning, so as to correct the tracking and positioning result of the electronic device according to the visual positioning result. Improve user experience, improve positioning efficiency, and improve positioning accuracy.
  • the determining the device calibration condition satisfied by the electronic device according to the target reference object includes:
  • the distance between the target reference object and the electronic device is greater than a first distance threshold and less than or equal to a second distance threshold, or when the size information of the target reference object in the image information is greater than or In the case where it is equal to the second size threshold and smaller than the first size threshold, it is determined that the electronic device satisfies the second correction condition, wherein the first distance threshold is smaller than the second distance threshold, and the first size threshold greater than the second size threshold.
  • the positioning method provided by the embodiment of the present disclosure may determine that the electronic device is currently near the target reference object by determining the distance between the target reference object and the electronic device, or by determining the size information of the target reference object in the image information, However, there is a certain distance between the two, and it is impossible to correct the position of the electronic device according to the second position information of the target reference object, so that the electronic device can be repositioned, thereby improving the positioning accuracy.
  • the positioning of the electronic device according to the deviation value of the first position information and the difference threshold to obtain the real-time position information of the electronic device includes:
  • the first position information is used as the real-time position information of the electronic device.
  • the first position information when the deviation value of the first position information is smaller than the difference threshold, the first position information can be used as the real-time position information of the electronic device, thereby improving the correction efficiency.
  • acquiring the second position information of the target reference object includes:
  • the target reference object is identified in the image information collected by the electronic device at the current moment, determine whether the electronic device satisfies the reference object correction condition;
  • the positioning method provided by the embodiments of the present disclosure can obtain the second position information of the target reference object when the distance between the target reference object and the electronic device is appropriate, so as to determine whether the second position information of the electronic device needs to be corrected, which can improve the Positioning accuracy of electronic equipment.
  • determining whether the electronic device satisfies the reference object correction condition includes:
  • the electronic device In the case where the distance between the target reference object and the electronic device is less than or equal to a second distance threshold, or, when the size information of the target reference object in the image information is greater than or equal to a second size threshold In the case of , it is determined that the electronic device satisfies the reference object calibration condition.
  • the positioning method provided by the embodiment of the present disclosure can easily determine whether the electronic device satisfies the reference object correction condition by determining the distance between the target reference object and the electronic device, or by determining the size information of the target reference object in the image information. .
  • a positioning device applied to an electronic device, comprising:
  • a tracking part configured to track and locate the electronic device to obtain first position information of the electronic device
  • an acquisition part configured to acquire second position information of the target reference object when the target reference object is identified in the image information collected by the electronic device at the current moment;
  • the positioning part is configured to locate the electronic device according to the first position information and the second position information to obtain real-time position information of the electronic device.
  • the positioning part is further configured to:
  • the electronic device is positioned according to the deviation value of the first position information and the difference threshold, so as to obtain real-time position information of the electronic device.
  • the positioning part is further configured to:
  • the corrected position information is used as the real-time position information of the electronic device.
  • the positioning part is further configured to:
  • the target reference object determine the device calibration condition that the electronic device satisfies
  • the position of the electronic device is corrected to obtain the corrected position information.
  • the device calibration condition includes a first calibration condition
  • the positioning part is further configured to:
  • the second position information is determined to be the corrected position information.
  • the positioning part is further configured to:
  • the electronic device determines that the electronic device satisfies the first correction condition.
  • the device calibration condition includes a second calibration condition
  • the positioning part is further configured to:
  • the third position information is the corrected position information.
  • the positioning part is further configured to:
  • the electronic device Under the condition that the environment image around the electronic device is collected, the electronic device is visually positioned according to the environment image, and the third position information of the electronic device is obtained.
  • the positioning part is further configured to:
  • the distance between the target reference object and the electronic device is greater than a first distance threshold and less than or equal to a second distance threshold, or when the size information of the target reference object in the image information is greater than or In the case where it is equal to the second size threshold and smaller than the first size threshold, it is determined that the electronic device satisfies the second correction condition, wherein the first distance threshold is smaller than the second distance threshold, and the first size threshold greater than the second size threshold.
  • the positioning part is further configured to:
  • the first position information is used as the real-time position information of the electronic device.
  • the obtaining part is further configured as:
  • the target reference object is identified in the image information collected by the electronic device at the current moment, determine whether the electronic device satisfies the reference object correction condition;
  • the obtaining part is further configured as:
  • the electronic device In the case where the distance between the target reference object and the electronic device is less than or equal to a second distance threshold, or, when the size information of the target reference object in the image information is greater than or equal to a second size threshold In the case of , it is determined that the electronic device satisfies the reference object calibration condition.
  • 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 comprising computer readable code, in the case where the computer readable code is executed in an electronic device, a processor in the electronic device executes the above method.
  • a computer program product comprising computer readable code that, when the computer readable code is run on a device, is executed by a processor in the device for implementing the above method.
  • the electronic device can be tracked and positioned to obtain the first position information of the electronic device, and when a target reference object is identified in the image information collected by the electronic device at the current moment, the first position information of the electronic device can be obtained.
  • the second position information of the target reference object, and the electronic device can be positioned according to the first position information and the second position information to obtain the real-time position information of the electronic device.
  • the accuracy of the first position information of the tracking and positioning of the electronic device can be determined, In order to obtain the real-time position information of the electronic device, the tracking and positioning accuracy of the electronic device can be improved, and the user experience can be improved.
  • 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 block diagram of a positioning apparatus according to an embodiment of the present disclosure
  • FIG. 4 shows a block diagram of an electronic device 800 according to an embodiment of the present disclosure
  • FIG. 5 shows a block diagram of an electronic device 1900 according to an embodiment of the present disclosure.
  • the position information obtained by tracking will have a certain deviation after accumulating for a period of time, which will lead to a certain deviation.
  • the tracking effect is poor.
  • the AR object that should be displayed in the A1 position will be displayed in the A2 position, which will affect the user's experience.
  • a target reference object may be set in advance at at least one preset position in the space where the electronic device is currently located (only one preset position P1 is shown in FIG. 1 )
  • a target reference object in the process of following the position information of the electronic device, it can be identified whether there is a target reference object in the scene where the electronic device is currently located.
  • the preset position P1 of the target reference object can be obtained, and the position information followed by the electronic device at this time is determined as P2.
  • Position correction in order to obtain accurate real-time position information and continue to follow and locate, or when the tracked position information P2 is accurate (for example, the distance between P1 and P2 is relatively close), you can continue to follow and locate the electronic device. In this way, the tracking and positioning accuracy of the electronic device can be improved, thereby improving user experience.
  • 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, and the terminal device may be referred to as user equipment (User Equipment, UE), mobile device, user terminal, etc. , terminal, etc.
  • UE User Equipment
  • 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, and the terminal device may be referred to as user equipment (User Equipment, UE), mobile device, user terminal, etc. , terminal, etc.
  • UE User Equipment
  • Electronic equipment may include one of the following or a combination of at least two of the following: server, mobile phone, tablet computer (Pad), computer with wireless transceiver function, palmtop computer, desktop computer, personal digital assistant, portable media player , smart speakers, navigation devices, smart watches, smart glasses, smart necklaces and other wearable devices, pedometers, digital TVs, virtual reality (Virtual Reality, VR) terminal equipment, Augmented Reality (AR) terminal equipment, industrial Wireless terminal in industrial control, wireless terminal in self driving, wireless terminal in remote medical surgery, wireless terminal in smart grid, transportation safety ), wireless terminals in smart cities, wireless terminals in smart homes, and vehicles, in-vehicle devices, in-vehicle modules, wireless modems, handheld devices ( handheld), customer terminal equipment (Customer Premise Equipment, CPE), smart home appliances, etc.
  • the method can be implemented by the processor calling the computer-readable instructions stored in the memory.
  • the method may be performed by a server.
  • the positioning method may include:
  • step S21 the electronic device is tracked and positioned to obtain first position information of the electronic device.
  • the first position information of the electronic device can be obtained in real time by tracking and positioning the electronic device.
  • the position information of the electronic device may be followed by relying on the 6Dof tracking capability of SLAM, so as to obtain the first position information of the electronic device in real time.
  • step S22 when a target reference object is identified in the image information collected by the electronic device at the current moment, second position information of the target reference object is acquired.
  • a target reference object may be pre-set at at least one preset position in the scene where the electronic device is located, and the target reference object may include objects such as sculptures, buildings, billboards, and landscapes.
  • the target reference object 1 can be set at the preset position P1
  • the target reference object P2 can be set at the preset position P2
  • the target reference object n can be set at the preset position Pn (wherein, n is a positive integer greater than 0)
  • the preset position is the second position information of the target reference object, for example, the second position information of the target reference object 1 is the preset position P1.
  • the electronic device may pre-store the second position information of each target reference object in the storage area.
  • the electronic device can collect image information in real time, and can identify the image information collected at the current moment in real time, and identify whether there is a target reference in the image information.
  • the second position information of the target reference object can be acquired from the storage area.
  • step S23 the electronic device is positioned according to the first position information and the second position information to obtain real-time position information of the electronic device.
  • the electronic device can be tracked and positioned to obtain the first position information of the electronic device, and when a target reference object is identified in the image information collected by the electronic device at the current moment, the target can be obtained.
  • the second position information of the object is referenced, and the electronic device can be positioned according to the first position information and the second position information to obtain the real-time position information of the electronic device.
  • the accuracy of the first position information of the tracking and positioning of the electronic device can be determined to obtain the real-time position information of the electronic device, and the electronic device can be improved.
  • the tracking accuracy of the device can improve the user experience.
  • the electronic device is located according to the first location information and the second location information, and the real-time location information of the electronic device is obtained, which may include:
  • the electronic device is positioned according to the deviation value of the first position information and the difference threshold, so as to obtain real-time position information of the electronic device.
  • the deviation value of the first position information of the electronic device can be determined by the first position information of the electronic device and the second position information of the target reference object, wherein the deviation value of the first position information can be used to characterize the electronic device The degree of deviation of the first location information relative to the real-time location information. For example, it may be determined that the difference between the first position information of the electronic device and the second position information of the target reference object is a deviation value of the first position information.
  • the deviation value of the first position information After the deviation value of the first position information is obtained, it can be determined whether the first position information currently tracked by the electronic device is accurate according to the deviation value of the first position information and the deviation threshold, and then it is determined whether the position information of the electronic device needs to be corrected , to obtain real-time location information of electronic devices.
  • the above deviation threshold may be a preset value or a dynamically determined value.
  • the deviation threshold may be determined according to the tracking duration. For example: after visual positioning (or after correcting the position information of the electronic device), start tracking and positioning of the electronic device, and after T seconds, the target reference object is identified, then the tracking time can be determined to be T seconds, and then according to T seconds to determine the corresponding deviation threshold. For example, the longer the following time is, the larger the corresponding deviation threshold is; on the contrary, the shorter the following time is, the smaller the corresponding deviation threshold is. In this way, the position information of the electronic device can be corrected in time, the positioning accuracy of the electronic device can be improved, and the user experience can be improved.
  • the deviation threshold may be determined according to the distance between the electronic device and the target reference object. For example, the larger the distance between the electronic device and the target reference object, the larger the corresponding deviation threshold, and conversely, the smaller the distance between the electronic device and the target reference object, the smaller the corresponding deviation threshold. In this way, the position information of the electronic device can be accurately corrected, the positioning accuracy of the electronic device can be improved, and the user experience can be improved.
  • the positioning of the electronic device according to the deviation value of the first position information and the difference threshold to obtain the real-time position information of the electronic device may include:
  • the first position information is used as the real-time position information of the electronic device.
  • the first location information is real-time location information of the electronic device.
  • the first position information when the deviation value of the first position information is smaller than the difference threshold, the first position information can be used as the real-time position information of the electronic device, thereby improving the correction efficiency.
  • the positioning of the electronic device according to the deviation value of the first position information and the difference threshold to obtain the real-time position information of the electronic device may include:
  • the corrected position information is used as the real-time position information of the electronic device.
  • the corrected position information can be obtained, and the corrected position information can be used as the real-time position information of the electronic device.
  • the positioning method provided by the embodiments of the present disclosure can correct the position information of the electronic device in time, improve the positioning accuracy of the electronic device, and improve the user experience.
  • the performing position correction on the electronic device to obtain corrected position information may include:
  • the target reference object determine the device calibration condition that the electronic device satisfies
  • the position of the electronic device is corrected to obtain the corrected position information.
  • the device calibration conditions that the electronic device satisfies can be determined, and then the calibration method for the position information of the electronic device can be determined according to the device calibration conditions satisfied by the electronic device, and then according to the device calibration conditions satisfied by the electronic device.
  • the correction method corrects the position information of the electronic device, and obtains the corrected position information of the electronic device.
  • the device calibration condition may include a first calibration condition and a second calibration condition; when the electronic device satisfies the first calibration condition, it can be determined that the electronic device is located at the location of the target reference object, so the location of the target reference object can be used. Correct the position information of the electronic device; when the electronic device satisfies the second correction condition, it can be determined that the electronic device is located near the target reference object, so the electronic device can be re-positioned to correct the position information of the electronic device.
  • the positioning method provided by the embodiments of the present disclosure can correct the position of the electronic device by using an appropriate correction method, and can improve the correction efficiency while improving the accuracy of the position information of the electronic device.
  • the determining the device calibration condition satisfied by the electronic device according to the target reference object includes:
  • the electronic device determines that the electronic device satisfies the first correction condition.
  • a first distance threshold and a second distance threshold may be preset, wherein the first distance threshold is smaller than the second distance threshold.
  • the distance between the target reference object and the electronic device can be measured by at least one of laser ranging, infrared ranging, and IMU sensors, and the distance between the target reference object and the electronic device is less than or equal to
  • the first distance threshold it is determined that the electronic device is currently located at the location of the target reference object, and it can be determined that the electronic device satisfies the first correction condition.
  • a first size threshold and a second size threshold may be preset, wherein the first size threshold is greater than the second size threshold.
  • the size information of the target reference object in the image information collected by the electronic device is greater than the first size threshold, it can be determined that the electronic device is currently close enough to the target reference object, and it can be considered that the electronic device is currently at the location of the target reference object. That is, it can be determined that the electronic device satisfies the first calibration condition.
  • the distance between the target reference object and the electronic device can be determined by determining the distance between the target reference object and the electronic device, or by determining the size information of the target reference object in the image information. In the case of being sufficiently small, it is determined that the electronic device satisfies the first correction condition, thereby providing a way of determining that the electronic device satisfies the first correction condition.
  • the electronic device When it is determined that the electronic device satisfies the first correction condition, it can be considered that the electronic device is currently at the position where the target reference object is located, and then the position correction of the electronic device can be performed according to the second position information of the target reference object.
  • the device calibration condition includes a first calibration condition
  • the position calibration is performed on the electronic device according to the calibration mode corresponding to the device calibration condition satisfied by the electronic device, and the obtained
  • the correction location information may include:
  • the second position information is determined to be the corrected position information.
  • the second position information of the target reference object can be used as the correction position information, and then the The corrected position information is used as the real-time position information of the electronic device to correct the position information of the electronic device.
  • directly using the second position information as the correction position information can improve the correction efficiency and improve the positioning accuracy of the electronic device.
  • the positioning method provided by the embodiment of the present disclosure can directly use the second position information as the correction position information, which can improve the correction efficiency and the positioning accuracy of the electronic device.
  • the determining the device calibration condition satisfied by the electronic device according to the target reference object may include:
  • the distance between the target reference object and the electronic device is greater than a first distance threshold and less than or equal to a second distance threshold, or when the size information of the target reference object in the image information is greater than or If it is equal to the second size threshold and less than the first size threshold, it is determined that the electronic device satisfies the second correction condition, wherein the first distance threshold is less than the second distance threshold, and the first size threshold is greater than the the second size threshold.
  • the distance between the target reference object and the electronic device can be measured by at least one of laser ranging, infrared ranging, and IMU sensor ranging.
  • the distance between them is greater than the first distance threshold and less than the second distance threshold, it can be determined that the electronic device is located near the target reference object, and it can be determined that the electronic device satisfies the second correction condition, wherein the first distance threshold is smaller than the first distance threshold.
  • Two distance thresholds may be preset, wherein the first size threshold is greater than the second size threshold. The size information of the target reference object in the image information collected by the electronic device can be determined.
  • the electronic device can be determined. Being located near the target reference object, it can be determined that the electronic device satisfies the second correction condition.
  • the electronic device When it is determined that the electronic device satisfies the second correction condition, it can be considered that the electronic device is currently near the target reference object, but there is a certain distance between the two, and the position correction of the electronic device cannot be performed according to the second position information of the target reference object, Further, the electronic device can be relocated to correct the position information of the electronic device according to the positioning result.
  • the positioning method provided by the embodiment of the present disclosure may determine that the electronic device is currently near the target reference object by determining the distance between the target reference object and the electronic device, or by determining the size information of the target reference object in the image information, However, there is a certain distance between the two, and it is impossible to correct the position of the electronic device according to the second position information of the target reference object, so that the electronic device can be repositioned, thereby improving the positioning accuracy.
  • the device calibration condition includes a second calibration condition
  • the position calibration is performed on the electronic device according to the calibration mode corresponding to the device calibration condition satisfied by the electronic device, and the calibration is obtained.
  • Location information which can include:
  • the third position information is the corrected position information.
  • the electronic device when it is determined that the electronic device satisfies the second calibration condition, it can be determined that the electronic device is currently located near the target reference object, but not at the position where the target reference object is located, so the target reference object cannot be directly used at this time.
  • the second position information of the electronic device corrects the position information of the electronic device.
  • the electronic device can perform visual positioning again to obtain the third position information of the electronic device, and use the third position information as the corrected position information. Further, the corrected position information can be used as the real-time position information of the electronic device, so as to correct the position information of the electronic device.
  • the positioning method provided by the embodiments of the present disclosure can correct the position of the electronic device by re-positioning the electronic device visually, and can improve the positioning accuracy of the electronic device.
  • performing visual positioning on the electronic device to obtain the third position information of the electronic device may include:
  • the electronic device Under the condition that the environment image around the electronic device is collected, the electronic device is visually positioned according to the environment image, and the third position information of the electronic device is obtained.
  • prompt information may be output through the electronic device, and the prompt information may be used to instruct the user to move the electronic device to capture an image of the environment around the electronic device.
  • the electronic device collects the surrounding environment image, the electronic device is visually positioned by the environment image.
  • the visual positioning process of the electronic device can be realized through the electronic device, or, after the electronic device uploads the environmental image to the server, the server can locate the electronic device according to the environmental image, and obtain the electronic device. the third position information.
  • the electronic device when the electronic device is not connected to the network or the electronic device is connected to the network but the network quality is poor, the electronic device can perform visual positioning according to the environment image to obtain the position information of the electronic device.
  • the electronic device when the electronic device is connected to the network and the network quality is good, the electronic device can send the collected environmental image to the server, and the server can visually locate the electronic device according to the environmental image collected by the electronic device, and obtain third location information of the electronic device, and sending the third location information of the electronic device to the electronic device.
  • prompt information may be displayed by means of pop-up windows, audio playback, etc., wherein the prompt information includes at least one of voice information, text information, picture information, video information, and animation information.
  • the environment image around the electronic device can be collected, and then precise positioning can be performed according to the environment image.
  • the prompt information when the display duration of the prompt information is greater than the display time threshold, the prompt information is closed, and the initial interface for positioning is jumped.
  • the display duration of the prompt information is within the display time range, and the display time range may be a preset time range.
  • the display time range is: (t1, t2), that is, the prompt information is displayed for at least t1 seconds and at most for t2 seconds, where t2 is the display time threshold.
  • t1 seconds after the prompt information is displayed it can be determined whether the electronic device has moved. If the electronic device has not moved, after t1 seconds, the above process of determining whether the electronic device has moved can be repeated until the electronic device moves to collect images of the surrounding environment, or When the display time of the prompt information reaches t2 seconds, the prompt information is closed.
  • the electronic device can perform visual positioning according to the collected environment image, and obtain the third position information of the electronic device; if the display time of the prompt information reaches t2 seconds, it can jump to the initial positioning interface, and Generate and display description information, which can be used to notify the user that the positioning fails, and the reason for the positioning failure is that the electronic device follows the positioning and there is a cumulative deviation, and reminds the user to restart the positioning operation after the mobile electronic device collects images of the surrounding environment, including the collection
  • the surrounding image information is used for VPS positioning.
  • the user can be guided to move the electronic device through the prompt information, and then the surrounding environment images can be collected for visual positioning, so as to correct the tracking and positioning result of the electronic device according to the visual positioning result, which can improve the user experience through interaction, and Improve positioning efficiency and improve positioning accuracy.
  • the embodiment of the present disclosure does not specifically limit the position correction method of the electronic device, and the method of locating the electronic device and obtaining the position information of the electronic device can be used as the position correction method of the embodiment of the present disclosure.
  • the electronic device after starting the positioning process, performs visual positioning, and then relies on SLAM to follow the spatial pose information of the electronic device to update the displayed position of the AR object.
  • the error size between the two is analyzed.
  • the user is guided to scan again.
  • the prompt of the plane in the scene improves the effect of SLAM following.
  • the electronic device can record the originally planned position information P1 of the AR object, rely on SLAM to track the position information P2 that the AR object should display, and set an offset error K (corresponding to the above-mentioned difference threshold), Then calculate the error value S (corresponding to the deviation value in the above embodiment) of P2 and P1, and compare S and K; if S>K, the electronic device will pop up an animation (included in the above prompt information) to remind the user to move the camera Scan the plane in the scene, the prompt animation lasts for at least 1 second, and the electronic device will update the plane information followed by SLAM; the electronic device sets the longest display time D of the prompt animation (corresponding to the above t2), if the prompt animation duration exceeds D, The plane sweeping process will end, and a prompt will be given to the user; if S ⁇ K, it means that the AR object offset error is within an acceptable range, and the SLAM tracking accuracy is high, and the tracking can be continued.
  • K corresponding to the above-mentioned difference
  • acquiring the second position information of the target reference object may include:
  • the target reference object is identified in the image information collected by the electronic device at the current moment, determine whether the electronic device satisfies the reference object correction condition;
  • the target reference object is identified in the image information collected by the electronic device at the current moment, it can be determined whether the electronic device meets the reference object correction conditions by measuring the distance between the electronic device and the target reference object, and only when When the electronic device satisfies the reference object correction condition, the second position information of the target reference object is acquired, and then the tracking and positioning accuracy of the electronic device can be determined according to the second position information of the target reference object. If the electronic device does not meet the reference object correction conditions, you can continue to track and locate the electronic device until the target reference object is identified in the image information collected by the electronic device, and after the electronic device meets the reference object correction conditions, the target reference object can be obtained. second location information.
  • the distance between the electronic device and the target reference object indicates that the electronic device is located near the target reference object, it may be determined that the electronic device satisfies the reference object calibration condition, otherwise, it is determined that the electronic device does not meet the reference object calibration condition.
  • determining whether the electronic device satisfies the reference object correction condition may include:
  • the electronic device In the case where the distance between the target reference object and the electronic device is less than or equal to a second distance threshold, or, when the size information of the target reference object in the image information is greater than or equal to a second size threshold In the case of , it is determined that the electronic device satisfies the reference object calibration condition.
  • the distance between the target reference object and the electronic device can be measured by ranging methods such as laser ranging, infrared ranging, and IMU sensors, and the distance between the target reference object and the electronic device is less than or equal to the second
  • ranging methods such as laser ranging, infrared ranging, and IMU sensors
  • the distance between the target reference object and the electronic device is less than or equal to the second
  • the electronic device when the size information of the target reference object in the image information collected by the electronic device is greater than or equal to the second size threshold, it can be determined that the electronic device is located near the target reference object, and it can be determined that the electronic device satisfies the reference object correction condition.
  • the positioning method provided by the embodiment of the present disclosure can easily determine whether the electronic device satisfies the reference object correction condition by determining the distance between the target reference object and the electronic device, or by determining the size information of the target reference object in the image information. .
  • the second position information of the target reference object can be obtained to determine whether the second position information of the electronic device needs to be corrected, which can improve the positioning accuracy of the electronic device.
  • the embodiments of the present disclosure can be applied to scenarios such as positioning, AR navigation, and AR games.
  • the position information of the target reference object can be used to determine whether the tracking and positioning result of the electronic device is accurate, and then the electronic device can be used for tracking and positioning.
  • the position information of the electronic device is corrected through the position information of the target reference object or visual positioning, so as to improve the positioning accuracy of the electronic device and greatly improve the user experience.
  • 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. 3 shows a block diagram of a positioning apparatus according to an embodiment of the present disclosure. As shown in FIG. 3 , the apparatus includes:
  • the following part 31 can be configured to follow and locate the electronic device to obtain the first position information of the electronic device
  • the obtaining part 32 can be configured to obtain the second position information of the target reference object when the target reference object is identified in the image information collected by the electronic device at the current moment;
  • the positioning part 33 may be configured to locate the electronic device according to the first position information and the second position information to obtain real-time position information of the electronic device.
  • the electronic device can be tracked and positioned to obtain the first position information of the electronic device, and when the target reference object is identified in the image information collected by the electronic device at the current moment, the target reference object can be obtained
  • the second location information of the electronic device can be located according to the first location information and the second location information, and the real-time location information of the electronic device can be obtained.
  • the positioning device provided by the embodiment of the present disclosure, since the second position information of the target reference object can be referred to, the accuracy of the first position information of the tracking and positioning of the electronic device can be determined, so as to obtain the real-time position information of the electronic device, which can improve the electronic equipment.
  • the tracking accuracy of the device can improve the user experience.
  • the positioning part 33 may also be configured as:
  • the electronic device is positioned according to the deviation value of the first position information and the difference threshold, so as to obtain real-time position information of the electronic device.
  • the positioning part 33 may also be configured as:
  • the corrected position information is used as the real-time position information of the electronic device.
  • the positioning part 33 may also be configured as:
  • the target reference object determine the device calibration condition that the electronic device satisfies
  • the position of the electronic device is corrected to obtain the corrected position information.
  • the device calibration condition includes a first calibration condition
  • the positioning part 33 may also be configured as:
  • the second position information is determined to be the corrected position information.
  • the positioning part 33 may also be configured as:
  • the electronic device determines that the electronic device satisfies the first correction condition.
  • the device calibration condition includes a second calibration condition
  • the positioning part 33 may also be configured as:
  • the third position information is the corrected position information.
  • the positioning part 33 may also be configured as:
  • the electronic device Under the condition that the environment image around the electronic device is collected, the electronic device is visually positioned according to the environment image, and the third position information of the electronic device is obtained.
  • the positioning part 33 may also be configured as:
  • the distance between the target reference object and the electronic device is greater than a first distance threshold and less than or equal to a second distance threshold, or when the size information of the target reference object in the image information is greater than or In the case where it is equal to the second size threshold and smaller than the first size threshold, it is determined that the electronic device satisfies the second correction condition, wherein the first distance threshold is smaller than the second distance threshold, and the first size threshold greater than the second size threshold.
  • the positioning part 33 may also be configured as:
  • the first position information is used as the real-time position information of the electronic device.
  • the obtaining part 32 may also be configured as:
  • the target reference object is identified in the image information collected by the electronic device at the current moment, determine whether the electronic device satisfies the reference object correction condition;
  • the obtaining part 32 may also be configured as:
  • the electronic device In the case where the distance between the target reference object and the electronic device is less than or equal to a second distance threshold, or, when the size information of the target reference object in the image information is greater than or equal to a second size threshold In the case of , it is determined that the electronic device satisfies the reference object calibration condition.
  • the functions or modules included in the apparatuses provided in the embodiments of the present disclosure may be used to execute the methods described in the above method embodiments.
  • 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 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.
  • Embodiments of the present disclosure also provide a computer program, including computer-readable codes.
  • a processor in the electronic device executes the method provided in any of the above embodiments. Instructions for positioning methods.
  • Embodiments of the present disclosure also provide a computer program product, including computer-readable codes.
  • a processor in the device executes instructions for implementing the positioning method provided by any of the above embodiments. .
  • 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. 4 shows a block diagram of an electronic device 800 according to an embodiment of the present disclosure.
  • electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc. terminal.
  • the electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812 , sensor component 814 , and communication component 816 .
  • the processing component 802 generally controls the overall operation of the electronic device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations.
  • the processing component 802 can include one or more processors 820 to execute instructions to perform all or some of the steps of the methods described above.
  • processing component 802 may include one or more modules that facilitate interaction between processing component 802 and other components.
  • processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.
  • Memory 804 is configured to store various types of data to support operation at electronic device 800 . Examples of such data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, and the like.
  • the memory 804 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (Electrically-Erasable Programmable Read-Only Memory) Erasable Programmable Read-Only Memory, EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (Read-Only) Memory, ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM Static Random Access Memory
  • EPROM Erasable Programmable Read Only Memory
  • PROM Programmable Read-Only Memory
  • Read-Only Memory Read-Only Memory
  • Power supply assembly 806 provides power to various components of electronic device 800 .
  • Power supply components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 800 .
  • Multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user.
  • the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from 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 808 includes a front-facing camera and/or a rear-facing camera. When the electronic device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera 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 810 is configured to output and/or input audio signals.
  • the audio component 810 includes a microphone (Microphone, MIC) configured to receive external audio signals when the electronic device 800 is in an operating mode, such as a calling mode, a recording mode, and a voice recognition mode.
  • the received audio signal may be stored in memory 804 or transmitted via communication component 816 .
  • audio component 810 also includes a speaker for outputting audio signals.
  • the I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module, 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 814 includes one or more sensors for providing status assessment of various aspects of electronic device 800 .
  • the sensor assembly 814 can detect the on/off state of the electronic device 800, the relative positioning of the components, such as the display and the keypad of the electronic device 800, the sensor assembly 814 can also detect the electronic device 800 or one of the electronic device 800 Changes in the position of components, presence or absence of user contact with the electronic device 800 , orientation or acceleration/deceleration of the electronic device 800 and changes in the temperature of the electronic device 800 .
  • Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact.
  • Sensor assembly 814 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 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices.
  • the electronic device 800 can access a wireless network based on a communication standard, such as a wireless network (Wireless Fidelity, WiFi), a second generation mobile communication technology (2G) or a third generation mobile communication technology (3G), or a combination thereof.
  • the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component 816 also includes a Near Field Communication (NFC) module to facilitate short-range communication.
  • the NFC module can be based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wide Band (UWB) technology, Bluetooth (Bluetooth, BT) technology and other technology to achieve.
  • RFID Radio Frequency Identification
  • IrDA Infrared Data Association
  • UWB Ultra Wide Band
  • Bluetooth Bluetooth
  • the electronic device 800 may be implemented by one or more Application Specific Integrated Circuit (ASIC), Digital Signal Processing (DSP), Digital Signal Processing Device (Digital Signal Processing Device) , DSPD), Programmable Logic Device (Programable Logic Device, PLD), Field Programmable Gate Array (Field Programmable Gate Array, FPGA), controller, microcontroller, microprocessor or other electronic components are implemented for implementing the above method.
  • ASIC Application Specific Integrated Circuit
  • DSP Digital Signal Processing
  • DSPD Digital Signal Processing Device
  • PLD Programmable Logic Device
  • Field Programmable Gate Array Field Programmable Gate Array
  • FPGA Field Programmable Gate Array
  • controller microcontroller, microprocessor or other electronic components are implemented for implementing the above method.
  • a non-volatile computer-readable storage medium such as a memory 804 comprising computer program instructions executable by the processor 820 of the electronic device 800 to perform the above method is also provided.
  • FIG. 5 shows a block diagram of an electronic device 1900 according to an embodiment of the present disclosure.
  • the electronic device 1900 may be provided as a server.
  • electronic device 1900 includes processing component 1922, which 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 ServerTM), a graphical user interface based operating system (Mac OS XTM) introduced by Apple, a multi-user multi-process computer operating system (UnixTM). ), Free and Open Source Unix-like Operating System (LinuxTM), Open Source Unix-like Operating System (FreeBSDTM) or similar.
  • 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 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.
  • Computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable Read Memory (EPROM or Flash), Static Random Access Memory (SRAM), Portable Compact Disk Read Only Memory (CD-ROM), Digital Versatile Disc (DVD), Memory Stick, Floppy disks, mechanically encoded devices, such as punched cards or raised structures in grooves with instructions stored thereon, and any suitable combination of the foregoing.
  • RAM random access memory
  • ROM read only memory
  • EPROM or Flash erasable programmable Read Memory
  • SRAM Static Random Access Memory
  • CD-ROM Portable Compact Disk Read Only Memory
  • DVD Digital Versatile Disc
  • Memory Stick Floppy disks
  • mechanically encoded devices such as punched cards or raised structures in grooves with instructions stored thereon, and any suitable combination of the foregoing.
  • 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 .
  • the computer program instructions for carrying out the 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 in one or more source or object code written in any combination of programming languages, 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, use an internet service provider to connect via the internet).
  • 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
  • Embodiments of the present disclosure disclose a positioning method, apparatus, electronic device, storage medium, program and product, wherein the positioning method includes: following and positioning the electronic device to obtain first position information of the electronic device; If a target reference object is identified in the image information collected by the electronic device at the current moment, obtain second position information of the target reference object; The device performs positioning to obtain real-time location information of the electronic device.
  • the accuracy of the first position information of the electronic device tracking and positioning can be determined with reference to the second position information of the target reference object, so as to obtain the real-time position information of the electronic device, and the tracking and positioning accuracy of the electronic device can be improved.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computer Graphics (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Navigation (AREA)
  • Image Analysis (AREA)
PCT/CN2021/117191 2021-02-25 2021-09-08 定位方法、装置、电子设备、存储介质、程序及产品 WO2022179080A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022534856A JP7387002B2 (ja) 2021-02-25 2021-09-08 測位方法、装置、電子機器、記憶媒体、プログラム及び製品

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110214924.1A CN112950712B (zh) 2021-02-25 2021-02-25 定位方法及装置、电子设备和存储介质
CN202110214924.1 2021-02-25

Publications (1)

Publication Number Publication Date
WO2022179080A1 true WO2022179080A1 (zh) 2022-09-01

Family

ID=76246396

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/117191 WO2022179080A1 (zh) 2021-02-25 2021-09-08 定位方法、装置、电子设备、存储介质、程序及产品

Country Status (3)

Country Link
JP (1) JP7387002B2 (ja)
CN (1) CN112950712B (ja)
WO (1) WO2022179080A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118464095A (zh) * 2024-07-10 2024-08-09 上海易景信息科技有限公司 传感器的校准方法、装置、电子设备及存储介质

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112950712B (zh) * 2021-02-25 2023-03-24 深圳市慧鲤科技有限公司 定位方法及装置、电子设备和存储介质
CN116419150A (zh) * 2021-12-31 2023-07-11 华为技术有限公司 一种定位方法、装置及电子设备

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106842269A (zh) * 2017-01-25 2017-06-13 北京经纬恒润科技有限公司 定位方法及系统
CN111524185A (zh) * 2020-04-21 2020-08-11 上海商汤临港智能科技有限公司 定位方法及装置、电子设备和存储介质
CN111664866A (zh) * 2020-06-04 2020-09-15 浙江商汤科技开发有限公司 定位展示方法及装置、定位方法及装置和电子设备
US20200394828A1 (en) * 2019-06-11 2020-12-17 Adobe Inc. Image object pose synchronization
CN112362047A (zh) * 2020-11-26 2021-02-12 浙江商汤科技开发有限公司 定位方法及装置、电子设备和存储介质
CN112950712A (zh) * 2021-02-25 2021-06-11 深圳市慧鲤科技有限公司 定位方法及装置、电子设备和存储介质

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017207942A (ja) 2016-05-19 2017-11-24 株式会社リコー 画像処理装置、自己位置推定方法、及び、プログラム
WO2019082669A1 (ja) 2017-10-24 2019-05-02 ソニー株式会社 情報処理装置、情報処理方法、プログラム、及び、移動体
JP7336223B2 (ja) 2019-03-25 2023-08-31 本田技研工業株式会社 自己位置推定方法
CN111323007B (zh) * 2020-02-12 2022-04-15 北京市商汤科技开发有限公司 定位方法及装置、电子设备和存储介质

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106842269A (zh) * 2017-01-25 2017-06-13 北京经纬恒润科技有限公司 定位方法及系统
US20200394828A1 (en) * 2019-06-11 2020-12-17 Adobe Inc. Image object pose synchronization
CN111524185A (zh) * 2020-04-21 2020-08-11 上海商汤临港智能科技有限公司 定位方法及装置、电子设备和存储介质
CN111664866A (zh) * 2020-06-04 2020-09-15 浙江商汤科技开发有限公司 定位展示方法及装置、定位方法及装置和电子设备
CN112362047A (zh) * 2020-11-26 2021-02-12 浙江商汤科技开发有限公司 定位方法及装置、电子设备和存储介质
CN112950712A (zh) * 2021-02-25 2021-06-11 深圳市慧鲤科技有限公司 定位方法及装置、电子设备和存储介质

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118464095A (zh) * 2024-07-10 2024-08-09 上海易景信息科技有限公司 传感器的校准方法、装置、电子设备及存储介质

Also Published As

Publication number Publication date
JP2023520278A (ja) 2023-05-17
CN112950712B (zh) 2023-03-24
JP7387002B2 (ja) 2023-11-27
CN112950712A (zh) 2021-06-11

Similar Documents

Publication Publication Date Title
WO2022179080A1 (zh) 定位方法、装置、电子设备、存储介质、程序及产品
EP3182716A1 (en) Method and device for video display
TW202105331A (zh) 一種人體關鍵點檢測方法及裝置、電子設備和電腦可讀儲存介質
EP3107086A1 (en) Method and device for playing a multimedia file
CN111105454B (zh) 一种获取定位信息的方法、装置及介质
CN111323007B (zh) 定位方法及装置、电子设备和存储介质
WO2022188305A1 (zh) 信息展示方法及装置、电子设备、存储介质及计算机程序
EP3147802B1 (en) Method and apparatus for processing information
JP2017528093A (ja) 画像による空間パラメータ特定方法、装置、プログラム、記録媒体および端末機器
US10248855B2 (en) Method and apparatus for identifying gesture
WO2022134475A1 (zh) 点云地图构建方法及装置、电子设备、存储介质和程序
RU2666626C1 (ru) Способ и устройство для управления состоянием воспроизведения
WO2022017140A1 (zh) 目标检测方法及装置、电子设备和存储介质
WO2022110776A1 (zh) 定位方法及装置、电子设备、存储介质、计算机程序产品、计算机程序
CN104936039A (zh) 图像处理方法及装置
JP2022531186A (ja) 情報処理方法、装置、電子機器、記憶媒体およびプログラム
WO2023273498A1 (zh) 深度检测方法及装置、电子设备和存储介质
WO2023273499A1 (zh) 深度检测方法及装置、电子设备和存储介质
WO2022110785A1 (zh) 定位方法及装置、电子设备、存储介质、计算机程序产品、计算机程序
US20170034347A1 (en) Method and device for state notification and computer-readable storage medium
CN111710046A (zh) 交互方法、装置和电子设备
WO2022110801A1 (zh) 数据处理方法及装置、电子设备和存储介质
WO2022237071A1 (zh) 定位方法及装置、电子设备、存储介质和计算机程序
WO2022110777A1 (zh) 定位方法及装置、电子设备、存储介质、计算机程序产品、计算机程序
TWI759004B (zh) 一種目標對象顯示方法、電子設備和電腦可讀儲存介質

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2022534856

Country of ref document: JP

Kind code of ref document: A

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21927506

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM1205A DATED 07.12.2023)

122 Ep: pct application non-entry in european phase

Ref document number: 21927506

Country of ref document: EP

Kind code of ref document: A1