Three-dimensional roaming method and device

Abstract

The present invention provides a three-dimensional roaming method and device, wherein the method comprises: in the process of panoramic roaming, obtaining the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position; according to the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position, in the process of roaming between two camera positions, attaching the panoramic pictures of the two camera positions to the preloaded scene model according to different strategies. Under the premise of not increasing the hardware cost and rendering overhead significantly, a more natural panoramic three-dimensional transition is achieved, and the roaming effect is improved.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to a three-dimensional roaming method and device. Background Art

[0002] Due to the limitations of hardware performance and bandwidth on the web page, it is impossible to display high-precision scene models. The current panoramic 3D fusion technology uses models with lower polygon counts to provide basic geometric shapes, and uses high-resolution panoramic images to attach models to achieve better textures.

[0003] When switching from one location in a scene to an adjacent location in the scene in 3D roaming, the existing method is to switch directly. This switching method cannot switch from the current scene to the target scene naturally and smoothly, which gives the user a rather stiff experience. It is difficult for the user to feel the relationship between the two scenes, and the roaming effect is poor. Summary of the invention

[0004] The present invention provides a three-dimensional roaming method and device, which are used to solve the defect of abrupt transition of three-dimensional roaming in the prior art, realize more natural three-dimensional transition and improve roaming effect.

[0005] The present invention provides a three-dimensional roaming method, comprising:

[0006] During the panoramic roaming process, obtaining visible information and / or invisible information of the scene model at the current camera position and visible information and / or invisible information at the next camera position;

[0007] According to the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position, during the roaming between two camera positions, the panoramic images of the two camera positions are pasted into the preloaded scene model according to different strategies.

[0008] According to a three-dimensional roaming method provided by the present invention, the step of obtaining visible information and / or invisible information of a scene model at a current camera position and visible information and / or invisible information at a next camera position includes:

[0009] Determine a visible area and / or an invisible area of ​​the scene model at a current camera position;

[0010] Get the panoramic picture to be posted at the next camera position;

[0011] The visible area and / or invisible area of ​​the scene model at the next camera position is determined according to the depth information of the scene model at the next camera position.

[0012] According to a three-dimensional roaming method provided by the present invention, the step of attaching the panoramic pictures of two camera positions to a preloaded scene model according to different strategies includes:

[0013] The visible area and / or invisible area of ​​the scene model at the current camera position and the next camera position are compared, and different pasting strategies are executed to paste the panoramic image of the next camera position into the scene model during roaming between the two camera positions.

[0014] According to a three-dimensional roaming method provided by the present invention, the visible area and / or invisible area of ​​the scene model at the current camera position and the next camera position are compared, and different pasting strategies are executed, including:

[0015] For all visible areas and / or all invisible areas, perform difference transformation on the panoramic pictures at the current camera position and the next camera position, and perform panoramic pasting according to the difference transformation result;

[0016] For areas where only one of the camera positions is visible, the scene model is mapped using the panoramic image of the visible camera position.

[0017] According to a three-dimensional roaming method provided by the present invention, the difference transformation of the panoramic pictures at the current camera position and the next camera position includes: calculating the difference in color values ​​of the two panoramic pictures, so that the image color at the current camera position gradually changes to the image color at the next camera position.

[0018] The present invention also provides a three-dimensional roaming device, comprising:

[0019] Obtain visibility module, used to obtain visible information and / or invisible information of the scene model at the current camera position and visible information and / or invisible information at the next camera position;

[0020] The panoramic pasting module is used to paste the panoramic images of the two camera positions into the preloaded scene model according to different strategies during roaming between the two camera positions based on the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position.

[0021] According to a three-dimensional roaming device provided by the present invention, the visibility acquisition module is further used for:

[0022] Determine a visible area and / or an invisible area of ​​the scene model at a current camera position;

[0023] Get the panoramic picture to be posted at the next camera position;

[0024] The visible area and / or invisible area of ​​the scene model at the next camera position is determined according to the depth information of the scene model at the next camera position.

[0025] According to a three-dimensional roaming device provided by the present invention, the panoramic pasting module is also used for:

[0026] The visible area and / or invisible area of ​​the scene model at the current camera position and the next camera position are compared, and different pasting strategies are executed to paste the panoramic image of the next camera position into the scene model during roaming between the two camera positions.

[0027] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned three-dimensional roaming methods when executing the program.

[0028] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the three-dimensional roaming methods described above are implemented.

[0029] A three-dimensional roaming method and device provided by the present invention obtains visible information and / or invisible information of a model area at adjacent positions to reflect changes in the model area in the field of view during camera movement, and then pastes a panoramic image of the next camera position into a preloaded scene model based on the visible information and / or invisible information. Without increasing hardware costs or rendering overhead significantly, a more natural panoramic three-dimensional transition is achieved, thereby improving the roaming effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 is a flow chart of a three-dimensional roaming method provided by an embodiment of the present invention;

[0032] Figure 2 It is a schematic diagram of a process of obtaining visible information and / or invisible information of a scene model at a current camera position and visible information and / or invisible information at a next camera position provided by an embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of the structure of a three-dimensional roaming device provided by an embodiment of the present invention;

[0034] Figure 4 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Figure 1 A flow chart of a three-dimensional roaming method provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the method includes:

[0037] Step 110 : during the panoramic navigation process, obtain visible information and / or invisible information of the scene model at the current camera position and visible information and / or invisible information at the next camera position.

[0038] Specifically, the scene model is generated using a 3D modeling tool. As data of a collection of points and other information, the 3D model can be generated manually or according to a certain algorithm.

[0039] One or more groups of photos taken by the camera at 360 degrees are stitched together into a panoramic image and pasted on the scene model, which retains the authenticity of the scene to the greatest extent. Users can control the browsing direction to view the scene from the left or right, up or down, and all the scenery within the scope of the scene model can be fully displayed.

[0040] Since the different positions of the camera in space may cause parts of the scene model to be visible or invisible, in order to more comprehensively reflect the changes in the model area in the field of view during camera movement and assign more correct panoramic materials, it is necessary to obtain the visible and / or invisible information of the scene model at the current camera position and the next camera position.

[0041] Step 120, based on the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position, during the roaming between the two camera positions, the panoramic images of the two camera positions are pasted into the preloaded scene model according to different strategies.

[0042] Specifically, during the panoramic roaming process, by switching the camera position, the updated panoramic picture is pasted at the same time to create a three-dimensional viewing experience in a three-dimensional space, making the user feel as if they are there. If the panoramic picture pasting is completed at the current camera position, if the next panoramic picture is directly pasted, the scene switching problem will be unnatural. Therefore, according to the visible information and / or invisible information of the acquired scene model at the adjacent position, the corresponding panoramic picture is pasted on the scene model.

[0043] The method provided by the embodiment of the present invention obtains the visible information and / or invisible information of the model area at adjacent positions to reflect the changes in the model area in the field of view during the camera movement, and then based on the visible information and / or invisible information, during the roaming process of the camera movement, the panoramic picture of the next camera position is simultaneously attached to the preloaded scene model with different strategies. Without increasing the hardware cost and rendering overhead significantly, a more natural panoramic three-dimensional transition is achieved, and the roaming effect is improved.

[0044] Based on the above embodiments, Figure 2 A flow chart for obtaining visible information and / or invisible information of a scene model at a current camera position and visible information and / or invisible information at a next camera position, such as Figure 2 As shown, step 110 includes:

[0045] Step 210, determining the visible area and / or invisible area of ​​the scene model at the current camera position;

[0046] Step 220, obtaining the panoramic picture to be pasted at the next camera position;

[0047] Step 230: Determine the visible area and / or invisible area of ​​the scene model at the next camera position according to the depth information of the scene model at the next camera position.

[0048] Specifically, the visible area and / or invisible area of ​​the scene model at the current camera position can be obtained according to the depth of the camera position relative to the scene model. The distance of each point in the scene relative to the camera can be represented by a depth map, that is, each pixel value in the depth map represents the distance between a certain point in the scene and the camera, and corresponds one to one with the pixel points of the ordinary RGB three-channel color image. The depth image is a three-dimensional representation of an object, which is obtained in advance by a stereo camera or TOF (Time offlight) camera or modeling software rendering, or in real time by graphics methods.

[0049] The technology of machine vision system to obtain scene depth map can be divided into two categories: passive ranging sensing and active depth sensing. Passive ranging sensing means that the vision system receives light energy emitted or reflected from the scene, forms the light energy distribution function of the scene, that is, the grayscale image, and then restores the depth information of the scene based on these images. One method of obtaining a depth map is to use two cameras separated by a certain distance to simultaneously obtain scene images to generate a depth map; another method of obtaining a depth map is to use a camera to obtain two or more images at different spatial positions, and generate a depth map through the grayscale information and imaging geometry of multiple images.

[0050] The obtained depth maps can be divided into two categories. The first type of depth map shows the brightness proportional to the distance from the camera, with closer surfaces being darker and other surfaces being brighter; the second type of depth map shows the brightness related to the distance from the nominal focal plane, with surfaces close to the focal plane being darker and surfaces far from the focal plane being brighter.

[0051] By rendering the depth map, we can get the occlusion relationship between the three-dimensional objects in the panorama. For different model areas, we project them onto the 2D plane to get their visible and invisible areas under the current camera position. Common methods to solve visibility include the painter algorithm, Newell algorithm or depth buffer algorithm.

[0052] The painter's algorithm sorts the polygons in the rendered scene according to depth, and then draws them in order, which can achieve the effect of covering the invisible area. However, the painter's algorithm cannot solve the visibility problem when the overall overlap makes it difficult to sort. The Newell algorithm of polygon segmentation can achieve the correct visibility between objects in the above-mentioned overall overlapping situation by cutting the polygons in the scene into multiple polygons and then reordering them. The depth buffer algorithm solves the problem of depth conflict based on pixel-by-pixel information and abandons the reliance on depth rendering order.

[0053] Based on any of the above embodiments, in step 120, according to the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position, the panoramic pictures at the two camera positions are pasted into the preloaded scene model according to different strategies, including:

[0054] The visible area and / or invisible area of ​​the scene model at the current camera position and the next camera position are compared, and different pasting strategies are executed to paste the panoramic image of the next camera position into the scene model during roaming between the two camera positions.

[0055] Specifically, different pasting strategies include: for all visible areas and / or all invisible areas, a difference transformation is performed on the panoramic pictures of the current camera position and the next camera position according to the movement distance of the camera at the two positions, and a panoramic pasting is performed according to the difference transformation result; for areas where only one position is visible, the panoramic picture of the visible position is used to pasted the scene model.

[0056] It should be noted that, for the visible area, the color values ​​of the two panoramas in the same model area are not necessarily the same. In order to reduce the difference in pixel points of the two panoramic images in this area and achieve a smooth transition visual effect, an embodiment of the present invention adopts a difference transformation method. By calculating the difference in pixel color values ​​of the two panoramic images, the difference is assigned to the preloaded scene model as the pixel value of the correct panoramic image, thereby realizing a gradual change from the pixel color on the current panoramic image to the pixel color of the next panoramic image.

[0057] For the invisible area, since the current panoramic image and the panoramic image of the next camera position in the model area will not appear in the field of view of the next camera position, the change of the pixel color value in this area will not affect the smooth transition during the 3D roaming process. Therefore, no other special operations are required here. The same panoramic tiling strategy as the visible area can be used. In addition, the computational consumption of this part is very small and will not affect the performance.

[0058] For the model area that is invisible at the current camera position but visible at the next camera position, since the model area at the current camera position is invisible, the current panoramic image is incorrectly pasted in this area. If the same interpolation method is used, the transition from the wrong color value to the correct color value will not achieve a smooth transition effect. Therefore, in this case, only the panoramic image at the next camera position is considered and it is directly pasted on the scene model to ensure the correctness of the color value change during the scene transition.

[0059] For the model area that is visible at the current camera position and invisible at the next camera position, since the panoramic pasting has been completed at the current camera position, the area is invisible at the next camera position, and the pixel color value will not affect the transition effect of the color value during the camera switching process. Therefore, for this type of situation, no special processing method is required. It can be merged with the previous situation and the panoramic picture of the visible position can be pasted.

[0060] The three-dimensional roaming device provided by the present invention is described below. The three-dimensional roaming device described below and the three-dimensional roaming method described above can be referred to each other.

[0061] Figure 3 A schematic diagram of the structure of a three-dimensional roaming device provided in an embodiment of the present invention is shown in FIG. Figure 3As shown, the device includes: a visibility acquisition module 310 and a panoramic mapping module 320.

[0062] The visibility acquisition module 310 is used to acquire visible information and / or invisible information of the scene model at the current camera position and visible information and / or invisible information at the next camera position.

[0063] Specifically, the scene model is generated using a 3D modeling tool. As data of a collection of points and other information, the 3D model can be generated manually or according to a certain algorithm.

[0064] One or more groups of photos taken by the camera at 360 degrees are stitched together into a panoramic image and pasted on the scene model, which retains the authenticity of the scene to the greatest extent. Users can control the browsing direction to view the scene from the left or right, up or down, and all the scenery within the scope of the scene model can be fully displayed.

[0065] Since different positions of the camera in space may cause parts of the scene model to be visible or invisible, in order to more comprehensively reflect the changes in the model area in the field of view during camera movement, the visible and / or invisible information of the scene model at the current camera position and the next camera position is obtained.

[0066] The panoramic pasting module 320 is used to paste the panoramic images of the two camera positions into the preloaded scene model according to different strategies during roaming between the two camera positions based on the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position.

[0067] Specifically, during the panoramic roaming process, the camera position is switched by moving, and the updated panoramic picture is pasted at the same time to create a three-dimensional viewing experience in a three-dimensional space, making the user feel as if they are there. If the panoramic picture pasting is completed at the current camera position, if the next panoramic picture is directly pasted, the scene switching problem will be unnatural. Therefore, according to the visible information and / or invisible information of the acquired scene model at the adjacent position, the corresponding panoramic picture is pasted on the scene model.

[0068] The device provided by the embodiment of the present invention obtains the visible information and / or invisible information of the model area at adjacent positions to reflect the changes in the model area in the field of view during the movement of the camera, and then pastes the panoramic picture of the next camera position into the preloaded scene model based on the visible information and / or invisible information. Without increasing the hardware cost and rendering overhead significantly, a more natural panoramic three-dimensional transition is achieved, and the roaming effect is improved.

[0069] Based on any of the above embodiments, the visibility acquisition module 310 is further used for:

[0070] Determine a visible area and / or an invisible area of ​​the scene model at a current camera position;

[0071] Get the panoramic picture to be posted at the next camera position;

[0072] The visible area and / or invisible area of ​​the scene model at the next camera position is determined according to the depth information of the scene model at the next camera position.

[0073] Based on any of the above embodiments, the panoramic labeling module 320 is further used for:

[0074] The visible area and / or invisible area of ​​the scene model at the current camera position and the next camera position are compared, and different pasting strategies are executed to paste the panoramic image of the next camera position into the scene model during roaming between the two camera positions.

[0075] Based on any of the above embodiments, the panoramic labeling module 320 is further used for:

[0076] For all visible areas and / or all invisible areas, perform difference transformation on the panoramic pictures at the current camera position and the next camera position, and perform panoramic pasting according to the difference transformation result;

[0077] For areas where only one of the positions is visible, the scene model is assigned using a panoramic image of the visible position.

[0078] Based on any of the above embodiments, the panoramic labeling module 320 is further used for:

[0079] Calculate the difference in color values ​​of two panoramic images so that the image color at the current camera position gradually changes to the image color at the next camera position.

[0080] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute a three-dimensional roaming method, which includes: obtaining visible information and / or invisible information of the scene model at the current camera position and visible information and / or invisible information at the next camera position during the panoramic roaming process; according to the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position, in the process of roaming between two camera positions, pasting the panoramic picture of the next camera position into the preloaded scene model.

[0081] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0082] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the three-dimensional roaming method provided by the above-mentioned methods, and the method includes: during the panoramic roaming process, obtaining the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position; according to the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position, during the roaming between the two camera positions, pasting the panoramic picture of the next camera position into the preloaded scene model.

[0083] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the above-mentioned three-dimensional roaming methods, the methods comprising: during the panoramic roaming process, obtaining the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position; according to the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position, during the roaming between the two camera positions, pasting the panoramic picture of the next camera position into the preloaded scene model.

[0084] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0085] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional roaming method, characterized in that: include: During the panoramic roaming process, obtaining visible information and / or invisible information of the scene model at the current camera position and visible information and / or invisible information at the next camera position; According to the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position, in the process of roaming between the two camera positions, the panoramic pictures of the two camera positions are pasted into the preloaded scene model according to different strategies; Comparing the visible area and / or invisible area of ​​the scene model at the current camera position and the next camera position, executing different pasting strategies, and pasting the panoramic picture at the next camera position to the scene model during roaming between the two camera positions; comparing the visible area and / or invisible area of ​​the scene model at the current camera position and the next camera position, executing different pasting strategies, includes: For all visible areas and / or all invisible areas, perform difference transformation on the panoramic pictures at the current camera position and the next camera position, and perform panoramic pasting according to the difference transformation result; For areas where only one of the camera positions is visible, the scene model is assigned using a panoramic image of the visible camera position; The obtaining of visible information and / or invisible information of the scene model at the current camera position and visible information and / or invisible information at the next camera position includes: Determine a visible area and / or an invisible area of ​​the scene model at a current camera position; Get the panoramic picture to be posted at the next camera position; According to the depth information of the scene model at the next camera position, the visible area and / or invisible area of ​​the scene model at the next camera position is determined, specifically including: a camera acquires two or more images at different spatial positions, and generates a depth map through the grayscale information and imaging geometry of the multiple images; by rendering the depth map, the occlusion relationship between the three-dimensional objects in the panoramic image is obtained, and for different model areas, they are projected onto a 2D plane to obtain their visible areas and invisible areas at the current camera position.

2. The three-dimensional roaming method according to claim 1, characterized in that: The performing difference transformation on the panoramic pictures at the current camera position and the next camera position includes: calculating the difference between the color values ​​of the two panoramic pictures, so that the image color at the current camera position gradually changes to the image color at the next camera position.

3. A three-dimensional roaming device, characterized in that: include: Obtain visibility module, used to obtain visible information and / or invisible information of the scene model at the current camera position and visible information and / or invisible information at the next camera position; A panoramic pasting module, used to pasting the panoramic pictures of the two camera positions into the preloaded scene model according to different strategies in the process of roaming between the two camera positions according to the visible information and / or invisible information of the scene model at the current camera position and the visible information and / or invisible information at the next camera position; The visibility acquisition module is also used for: Determine a visible area and / or an invisible area of ​​the scene model at a current camera position; Get the panoramic picture to be posted at the next camera position; Determining the visible area and / or invisible area of ​​the scene model at the next camera position according to the depth information of the scene model at the next camera position, specifically comprising: a camera acquires two or more images at different spatial positions, and generates a depth map through the grayscale information and imaging geometry of the multiple images; by rendering the depth map, obtaining the occlusion relationship between the three-dimensional objects in the panoramic image, and for different model areas, projecting them onto a 2D plane to obtain their visible areas and invisible areas at the current camera position; The panoramic pasting module is further used to: compare the visible area and / or invisible area of ​​the scene model at the current camera position and the next camera position, execute different pasting strategies, and pasting the panoramic picture of the next camera position into the scene model during roaming between the two camera positions; the comparing the visible area and / or invisible area of ​​the scene model at the current camera position and the next camera position, and executing different pasting strategies, includes: For all visible areas and / or all invisible areas, perform difference transformation on the panoramic pictures at the current camera position and the next camera position, and perform panoramic pasting according to the difference transformation result; For areas where only one of the camera positions is visible, the scene model is mapped using the panoramic image of the visible camera position.

4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the three-dimensional navigation method according to claim 1 or 2 are implemented.

5. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the three-dimensional navigation method according to claim 1 or 2 are implemented.

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