A spatial positioning method and device based on QR code

Abstract

The embodiment of the present application discloses a spatial positioning method and device based on a two-dimensional code, the method comprising: obtaining a two-dimensional code to be identified; extracting the features of a two-dimensional image corresponding to the two-dimensional code to be identified; if the features are the same as the features of a two-dimensional image corresponding to any one of at least one target two-dimensional code, storing the position of the two-dimensional code to be identified, and at least one target two-dimensional code corresponds to a target position information; parsing the information contained in the two-dimensional code to be identified to obtain the information to be identified; if the information to be identified is the same as the information contained in any one of at least one target two-dimensional code, completing the positioning according to the target position information corresponding to the corresponding target two-dimensional code and the position of the two-dimensional code to be identified. The present application eliminates erroneous two-dimensional codes through two screenings to improve the positioning efficiency, and accurately compares the information contained in the two-dimensional code to determine the only identical two-dimensional code, so as to ensure accurate identification and positioning of different two-dimensional codes in the scene of multi-two-dimensional code recognition.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of spatial positioning technology, and in particular, to a spatial positioning method and device based on a two-dimensional code. Background Art

[0002] With the continuous development and popularization of Mixed Reality (MR) technology, there is an increasing demand for locating the target position in three-dimensional space. A conventional positioning method based on three-dimensional space is to determine the target position information corresponding to each reference image by pre-deploying a reference image library. When positioning is required, the two-dimensional image corresponding to each reference image is input into the recognition device, the recognition device extracts the features of the two-dimensional image, determines the pre-deployed corresponding reference image according to the corresponding features, and then obtains the corresponding target position information according to the corresponding reference image. After that, the target position of the three-dimensional space is located based on the position of the two-dimensional image and the determined target position information. However, in actual applications, since reference images with various different features affect the overall aesthetics, people prefer to use different QR codes instead of reference images.

[0003] However, the composition contents of different QR codes are highly similar, and when recognizing a QR code, only the features corresponding to the black dots or white dots contained in the QR code can be identified, but the content of the QR code cannot be parsed to identify the information contained in the QR code. Therefore, when identifying the reference position of the three-dimensional space by recognizing the two-dimensional image of the QR code, the two-dimensional image of the QR code is often recognized as an erroneous reference QR code image, resulting in incorrect positioning of the three-dimensional coordinates. Summary of the invention

[0004] The embodiment of the present application provides a spatial positioning method based on a QR code, which can accurately identify and locate different QR codes in a scenario of multiple QR code recognition.

[0005] In a first aspect, an embodiment of the present application provides a spatial positioning method based on a two-dimensional code, the method comprising:

[0006] Get the QR code to be identified;

[0007] Extracting features of the two-dimensional image corresponding to the two-dimensional code to be identified;

[0008] If the feature is the same as the feature of the two-dimensional image corresponding to any one of the at least one target two-dimensional code, the position of the two-dimensional code to be identified is stored, and the at least one target two-dimensional code corresponds to a target position information respectively;

[0009] Parsing the information contained in the to-be-identified QR code to obtain the to-be-identified information;

[0010] If the information to be identified is the same as the information corresponding to any target two-dimensional code of the at least one target two-dimensional code, positioning is completed according to the target position information corresponding to the corresponding target two-dimensional code and the position of the two-dimensional code to be identified.

[0011] In an optional design, after extracting the features of the two-dimensional image corresponding to the two-dimensional code to be identified, the method further includes:

[0012] Respectively comparing the features with features of a two-dimensional image corresponding to the at least one target two-dimensional code;

[0013] If the features are different from the features of the two-dimensional image corresponding to the at least one target two-dimensional code, a new two-dimensional code to be identified is obtained, and the step of extracting the features of the two-dimensional image corresponding to the two-dimensional code to be identified is repeated.

[0014] In an optional design, after parsing the information contained in the to-be-identified two-dimensional code to obtain the to-be-identified information, the method further includes:

[0015] Respectively comparing the information to be identified with the information contained in the at least one target two-dimensional code;

[0016] If the information to be identified is different from the information contained in the at least one target two-dimensional code, a new two-dimensional code to be identified is obtained, and the step of extracting features of the two-dimensional image corresponding to the two-dimensional code to be identified is repeated.

[0017] In an optional design, the step of obtaining the to-be-identified two-dimensional code includes:

[0018] Call the camera to collect two-dimensional images;

[0019] The two-dimensional image includes the two-dimensional code to be identified.

[0020] In an optional design, the target position information includes: a three-dimensional model and a position offset.

[0021] In an optional design, the positioning is completed according to the target position information corresponding to the corresponding target two-dimensional code and the position of the two-dimensional code to be identified, including:

[0022] Binding the two-dimensional code to be identified with the three-dimensional model corresponding to the corresponding target two-dimensional code;

[0023] At the position of the to-be-recognized two-dimensional code, the three-dimensional model is set according to the position offset of the three-dimensional model relative to the to-be-recognized two-dimensional code.

[0024] In an optional design, the positioning is completed according to the target position information corresponding to the corresponding target two-dimensional code and the position of the two-dimensional code to be identified, and further includes:

[0025] Taking the position of the to-be-recognized two-dimensional code as the center, the offset three-dimensional scene is corrected according to the position offset corresponding to the corresponding target two-dimensional code.

[0026] In a second aspect, an embodiment of the present application provides a spatial positioning device based on a two-dimensional code, the device comprising:

[0027] An acquisition module, used to acquire a QR code to be identified;

[0028] A feature extraction module, used to extract features of the two-dimensional image corresponding to the two-dimensional code to be identified;

[0029] A processing module is used to store the position of the to-be-identified two-dimensional code if the feature is the same as the feature of the two-dimensional image corresponding to any one of the at least one target two-dimensional code, and the at least one target two-dimensional code corresponds to a target position information respectively; parse the information contained in the to-be-identified two-dimensional code to obtain the to-be-identified information; if the to-be-identified information is the same as the information contained in any one of the at least one target two-dimensional code, complete positioning according to the target position information corresponding to the corresponding target two-dimensional code and the position of the to-be-identified two-dimensional code.

[0030] In a third aspect, an embodiment of the present application provides a computer storage medium, including a computer program, which, when executed on a computer, enables the computer to execute the above-mentioned QR code-based spatial positioning method.

[0031] The present application provides a spatial positioning method based on a two-dimensional code, by obtaining a two-dimensional code to be identified; extracting the features of the two-dimensional image corresponding to the two-dimensional code to be identified; if the features are the same as the features of the two-dimensional image corresponding to any one of the at least one target two-dimensional code, storing the position of the two-dimensional code to be identified, and the at least one target two-dimensional code corresponds to a target position information; parsing the information contained in the two-dimensional code to be identified to obtain the information to be identified; if the information to be identified is the same as the information contained in any one of the at least one target two-dimensional code, positioning is completed according to the target position information corresponding to the corresponding target two-dimensional code and the position of the two-dimensional code to be identified. The first screening is completed by identifying the two-dimensional image, most of the erroneous images are excluded, the positioning efficiency is improved, and accurate information is obtained; and the second screening is completed by parsing the content of the two-dimensional code to be identified, and the two-dimensional code to be located is accurately identified according to the information contained in the two-dimensional code, which can ensure that in the scene of multi-two-dimensional code recognition, different two-dimensional codes can be accurately identified and located, which not only ensures the accuracy of spatial positioning, but also can distinguish different two-dimensional codes, and also improves the efficiency of the positioning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] Figure 1 A flow chart of a spatial positioning method based on a QR code provided in an embodiment of the present application;

[0034] Figure 2 A schematic diagram of the structure of a spatial positioning device based on a QR code provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The technical solution of the embodiment of the present application will be described below in conjunction with the drawings in the embodiment of the present application.

[0036] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and the appended claims of the present application, the singular expressions "one", "a kind of", "described", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear contrary indication in the context. It should also be understood that although the terms first, second, etc. may be used to describe a certain class of objects in the following embodiments, the objects should not be limited to these terms. These terms are only used to distinguish the specific objects of this class of objects. The same is true for other classes of objects that may be described using the terms first, second, etc. in the following embodiments, which will not be repeated here.

[0037] The embodiments of the present application provide a spatial positioning method and device based on a two-dimensional code, which can accurately identify and distinguish different two-dimensional codes and perform accurate positioning in a multi-two-dimensional code recognition scenario.

[0038] The following introduces the QR code-based spatial positioning method involved in the embodiments of the present application through several implementation methods.

[0039] like Figure 1 As shown, Figure 1 A spatial positioning method 100 based on a two-dimensional code (hereinafter referred to as method 100) is illustrated, and method 100 includes the following steps:

[0040] Step S101, obtaining a QR code to be identified.

[0041] In this embodiment, the device first receives an instruction to start the positioning mode, so that the camera captures the QR code to be identified and obtains a two-dimensional image containing the QR code to be identified. The device then automatically processes the captured two-dimensional image.

[0042] Step S102: extracting features of the two-dimensional image corresponding to the two-dimensional code to be identified.

[0043] In this embodiment, feature extraction is performed on the two-dimensional image containing the two-dimensional code to be identified. The extraction process is only to obtain multiple feature points of the two-dimensional image, and the content of the image will not be analyzed.

[0044] Step S103, if the feature is the same as the feature of the two-dimensional image corresponding to any one of the at least one target two-dimensional code, the position of the two-dimensional code to be identified is stored, and the at least one target two-dimensional code corresponds to a target position information respectively.

[0045] In this embodiment, the features of the two-dimensional image containing the two-dimensional code to be identified are compared with the features of the two-dimensional image corresponding to at least one target two-dimensional code. If any of the comparison results are the same, the position of the two-dimensional code to be identified is obtained, and the corresponding position information is stored. Through this step, the first round of screening can be carried out. When identifying the features of the two-dimensional image, only the features corresponding to the black dots or white dots contained in the two-dimensional code in the image can be identified, which leads to the features of multiple two-dimensional images being relatively similar. Although comparison errors may occur during the comparison process, the two-dimensional code to be identified that has the same features as the two-dimensional image corresponding to any target two-dimensional code is likely to be one of the at least one target two-dimensional code to a large extent. Through the first screening, many erroneous two-dimensional codes with different features can be excluded, thereby shortening the time required for overall identification and positioning.

[0046] Step S104, parsing the information contained in the to-be-identified QR code to obtain the to-be-identified information;

[0047] In this embodiment, the two-dimensional code included in the two-dimensional image is parsed to obtain the content of the two-dimensional code. Since the content information included in each two-dimensional code is unique, only one identical two-dimensional code can be determined based on the information to be identified.

[0048] Step S105: if the information to be identified is the same as the information contained in any target two-dimensional code of the at least one target two-dimensional code, positioning is completed according to the target position information corresponding to the corresponding target two-dimensional code and the position of the two-dimensional code to be identified.

[0049] In this embodiment, the information to be identified is compared with the information contained in at least one target two-dimensional code. If any of the comparison results are the same, it is determined that the current two-dimensional code to be identified is the required two-dimensional code and is the same two-dimensional code as the corresponding target two-dimensional code in at least one target two-dimensional code, and positioning is completed based on the position of the current two-dimensional code to be identified and the information corresponding to the corresponding target two-dimensional code. The second screening excludes two-dimensional codes that are not target two-dimensional codes, and determines which target two-dimensional code the two-dimensional code to be identified specifically corresponds to. Based on this, the two-dimensional code to be identified can be accurately determined and compared according to the content contained in the two-dimensional code, thereby avoiding the problem of recognition errors caused by similar two-dimensional image features.

[0050] The spatial positioning method based on QR codes provided in this application eliminates most QR codes with different features from the target QR code through the first screening, thereby improving the efficiency of the recognition and positioning process; the second screening can accurately determine the required QR code by comparing the content of the QR code. Thus, in the scenario of multiple QR code recognition, different QR codes can be accurately and quickly recognized and located.

[0051] In some embodiments of the present invention, after extracting the features of the two-dimensional image corresponding to the two-dimensional code to be identified, the method further includes:

[0052] Respectively comparing the features with features of a two-dimensional image corresponding to the at least one target two-dimensional code;

[0053] If the features are different from the features of the two-dimensional image corresponding to the at least one target two-dimensional code, a new two-dimensional code to be identified is obtained, and the step of extracting the features of the two-dimensional image corresponding to the two-dimensional code to be identified is repeated.

[0054] In this embodiment, after extracting features from the two-dimensional image containing the two-dimensional code to be identified, a first screening is performed to compare the features of the two-dimensional image corresponding to the two-dimensional code to be identified with the features of the two-dimensional image corresponding to the target two-dimensional code. If all the comparison results are different, it can be determined that the current two-dimensional code to be identified is not the two-dimensional code we need to locate, and then a new two-dimensional code to be identified is obtained for comparison. Since the subsequent operation of identifying the content of the two-dimensional code is relatively complicated and takes a long time, most of the wrong two-dimensional codes can be eliminated through the first screening, which can save time for subsequent operations and improve the efficiency of positioning.

[0055] In some embodiments of the present invention, after parsing the information contained in the to-be-identified two-dimensional code to obtain the to-be-identified information, the method further includes:

[0056] Respectively comparing the information to be identified with the information contained in the at least one target two-dimensional code;

[0057] If the information to be identified is different from the information contained in the at least one target two-dimensional code, a new two-dimensional code to be identified is obtained, and the step of extracting features of the two-dimensional image corresponding to the two-dimensional code to be identified is repeated.

[0058] In this embodiment, the two-dimensional code to be identified that has passed the first screening is parsed to obtain the information to be identified, and the information is compared with the information contained in the target two-dimensional code. If the comparison results are different, it means that the current two-dimensional code to be identified only has one or more features in common with the target two-dimensional code, but is not the two-dimensional code we want to locate. Therefore, a new two-dimensional code to be identified is obtained for screening. The second screening is based on the information contained in the two-dimensional code. Since the information contained in each preset target two-dimensional code is unique, the only identical information can be obtained by comparing the information of the two-dimensional code to be identified with the information of the target two-dimensional code, thereby ensuring the accuracy of identifying the two-dimensional code.

[0059] In some embodiments of the present invention, obtaining the to-be-identified two-dimensional code includes:

[0060] Call the camera to collect two-dimensional images;

[0061] The two-dimensional image includes the two-dimensional code to be identified.

[0062] In this embodiment, after the device receives the instruction to start the positioning mode, the positioning mode is turned on, the camera is called to collect images, and the collected images include the QR code to be identified. When the first screening or the second screening fails, that is, the current QR code to be identified is not the QR code that needs to be positioned, the camera is called again to collect a new two-dimensional image.

[0063] In some implementations of the present invention, the target position information includes: a three-dimensional model and a position offset.

[0064] In this embodiment, the three-dimensional model may be the object to be located, and multiple objects need to be located in the same scene. Therefore, multiple different QR codes are used to assist in positioning. The position offset refers to the position offset between the three-dimensional model and the corresponding QR code. The position of the object to be located is determined by the position of the QR code.

[0065] In some embodiments of the present invention, the positioning is completed according to the target position information corresponding to the corresponding target two-dimensional code and the position of the two-dimensional code to be identified, including:

[0066] Binding the two-dimensional code to be identified with the three-dimensional model corresponding to the corresponding target two-dimensional code;

[0067] At the position of the to-be-recognized two-dimensional code, the three-dimensional model is set according to the position offset of the three-dimensional model relative to the to-be-recognized two-dimensional code.

[0068] In this embodiment, after the QR code to be identified passes two screenings, the target QR code corresponding to the current QR code to be identified, as well as the corresponding three-dimensional model and position offset are determined, and the three-dimensional model is bound to the QR code to be identified. Each model to be located has a corresponding QR code.

[0069] At the position of the QR code to be identified, the corresponding three-dimensional model is placed according to the direction and size of the position offset, so as to determine the position coordinates of the three-dimensional model and complete the positioning of the model to be positioned.

[0070] In some embodiments of the present invention, the positioning according to the target position information corresponding to the corresponding target two-dimensional code and the position of the two-dimensional code to be identified further includes:

[0071] Taking the position of the to-be-recognized two-dimensional code as the center, the offset three-dimensional scene is corrected according to the position offset corresponding to the corresponding target two-dimensional code.

[0072] In this embodiment, when the three-dimensional scene is offset, the offset three-dimensional scene can be corrected by taking the position of the to-be-identified two-dimensional code as the center and performing positioning according to the indication of the corresponding position offset.

[0073] In summary, the QR code-based spatial positioning method of the embodiment of the present application can ensure accurate identification and positioning of different QR codes in the scenario of multiple QR code recognition, which not only ensures the accuracy of spatial positioning, but also can distinguish different QR codes.

[0074] Corresponding to method 100, an embodiment of the present application also provides a device for executing the above method.

[0075] like Figure 2 As shown, Figure 2 A spatial positioning device 200 based on a two-dimensional code is shown, and the device comprises:

[0076] An acquisition module 201 is used to acquire a QR code to be identified;

[0077] A feature extraction module 202, used to extract features of the two-dimensional image corresponding to the two-dimensional code to be identified;

[0078] The processing module 203 is used to store the position of the to-be-identified two-dimensional code if the feature is the same as the feature of the two-dimensional image corresponding to any one of the at least one target two-dimensional code, and the at least one target two-dimensional code corresponds to a target position information respectively; parse the information contained in the to-be-identified two-dimensional code to obtain the to-be-identified information; if the to-be-identified information is the same as the information contained in any one of the at least one target two-dimensional code, complete the positioning according to the target position information corresponding to the corresponding target two-dimensional code and the position of the to-be-identified two-dimensional code.

[0079] In a specific implementation, corresponding to the aforementioned device, an embodiment of the present application further provides a computer storage medium, which includes a computer program, and when the computer program is run on a computer, the computer executes some or all of the steps in each embodiment of method 100. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0080] Those skilled in the art may understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units may refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed methods, devices and systems can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0082] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0083] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art or all or 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 to enable a computer device (which can be a personal computer, a cloud game control device, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0084] Although the optional embodiments of the present application have been described, those skilled in the art, once informed of the basic creative concept, may make additional changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiment and all changes and modifications falling within the scope of the present application.

[0085] The specific implementation methods described above further illustrate the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only the specific implementation method of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the present application should be included in the scope of protection of the present invention.

Claims

1. A spatial positioning method based on a two-dimensional code, characterized in that: The method comprises: Get the QR code to be identified; Extracting features of the two-dimensional image corresponding to the two-dimensional code to be identified; If the feature is the same as the feature of the two-dimensional image corresponding to any one of the at least one target two-dimensional code, the position of the two-dimensional code to be identified is stored, and the at least one target two-dimensional code corresponds to a target position information respectively; Parsing the information contained in the to-be-identified QR code to obtain the to-be-identified information; If the information to be identified is the same as the information contained in any target two-dimensional code of the at least one target two-dimensional code, positioning is completed according to the target position information corresponding to the corresponding target two-dimensional code and the position of the two-dimensional code to be identified; The target position information includes: a three-dimensional model and a position offset; The positioning is completed according to the target position information corresponding to the corresponding target two-dimensional code and the position of the two-dimensional code to be identified, including: Binding the two-dimensional code to be identified with the three-dimensional model corresponding to the corresponding target two-dimensional code; At the position of the two-dimensional code to be identified, setting the three-dimensional model according to the position offset of the three-dimensional model relative to the two-dimensional code to be identified; At the position of the QR code to be identified, the corresponding three-dimensional model is placed according to the direction and size of the position offset, so as to determine the position coordinates of the three-dimensional model and complete the positioning of the model to be positioned; The positioning is completed according to the target position information corresponding to the corresponding target two-dimensional code and the position of the two-dimensional code to be identified, and further includes: Taking the position of the to-be-recognized two-dimensional code as the center, the offset three-dimensional scene is corrected according to the position offset corresponding to the corresponding target two-dimensional code.

2. The spatial positioning method based on a two-dimensional code as claimed in claim 1, characterized in that: After extracting the features of the two-dimensional image corresponding to the two-dimensional code to be identified, the method further includes: Respectively comparing the features with features of a two-dimensional image corresponding to the at least one target two-dimensional code; If the features are different from the features of the two-dimensional image corresponding to the at least one target two-dimensional code, a new two-dimensional code to be identified is obtained, and the step of extracting the features of the two-dimensional image corresponding to the two-dimensional code to be identified is repeated.

3. The spatial positioning method based on a two-dimensional code as claimed in claim 1 or 2, characterized in that: After parsing the information contained in the to-be-identified two-dimensional code to obtain the to-be-identified information, the method further includes: Respectively comparing the information to be identified with the information contained in the at least one target two-dimensional code; If the information to be identified is different from the information contained in the at least one target two-dimensional code, a new two-dimensional code to be identified is obtained, and the step of extracting features of the two-dimensional image corresponding to the two-dimensional code to be identified is repeated.

4. The spatial positioning method based on a two-dimensional code according to claim 1, characterized in that: The obtaining of the to-be-identified two-dimensional code comprises: Call the camera to collect two-dimensional images; The two-dimensional image includes the two-dimensional code to be identified.

5. A spatial positioning device based on a two-dimensional code, characterized in that: The device is used to implement the spatial positioning method based on a two-dimensional code as described in any one of claims 1 to 4, and the device includes: An acquisition module, used to acquire a QR code to be identified; A feature extraction module, used to extract features of the two-dimensional image corresponding to the two-dimensional code to be identified; A processing module is used to store the position of the to-be-identified two-dimensional code if the feature is the same as the feature of the two-dimensional image corresponding to any one of the at least one target two-dimensional code, and the at least one target two-dimensional code corresponds to a target position information respectively; parse the information contained in the to-be-identified two-dimensional code to obtain the to-be-identified information; if the to-be-identified information is the same as the information contained in any one of the at least one target two-dimensional code, complete positioning according to the target position information corresponding to the corresponding target two-dimensional code and the position of the to-be-identified two-dimensional code.

6. A computer-readable storage medium, characterized in that: It comprises a computer program, which, when executed on a computer, enables the computer to execute the two-dimensional code-based spatial positioning method as claimed in any one of claims 1 to 4.

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