A method and apparatus for correcting a preset bit, a monitoring system and an electronic device

Abstract

The application provides a preset position correction method and device, a monitoring system and electronic equipment, which can be applied to correct preset position offset of a ball camera, and is used to solve the problem of low accuracy of preset position correction. The method comprises the following steps: acquiring preset position images of a plurality of preset positions contained in a cruise path, and first extension images of first extension positions respectively associated with the plurality of preset positions and second extension images of second extension positions; when cruising according to the cruise path, shooting at the plurality of preset positions and the first extension positions and the second extension positions respectively associated with the plurality of preset positions to obtain preset position cruise images, first cruise images and second cruise images; matching the preset position cruise images with the preset position images, the first cruise images with the first extension images, and the second cruise images with the second extension images respectively to obtain matching results, and correcting the plurality of preset positions and the first extension positions and the second extension positions respectively associated with the plurality of preset positions based on the matching results.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of monitoring, and in particular to a method and device for correcting preset positions, a monitoring system and an electronic device. BACKGROUND

[0002] With the continuous development of the electronic technology field, monitoring cameras are also constantly updated and developed. A PTZ dome camera is an integrated camera that integrates a pan-tilt head, a decoder, a protective cover, and other functions. It has the characteristics of fast operation speed, optical zoom, accurate positioning, flexible control mode, and is widely used.

[0003] The PTZ dome camera has a preset function, which means that it can store relevant parameters (PTZ parameters) such as the horizontal angle, tilt angle, and camera lens focal length of the pan-tilt head at the preset position under the current state in the memory. When needed, these parameters can be quickly called and the pan-tilt head and camera can be adjusted to that position.

[0004] The accuracy of the mechanical rotating shaft of the pan-tilt head affects the positioning of the preset position. When the accuracy of the mechanical rotating shaft is not enough due to wear and tear, the preset position will be abnormal. When the pan-tilt head is cruising according to the preset position, it will deviate from the original position, causing the monitoring image to shift and resulting in a cruising error. After the monitoring image shifts, the corresponding preset position feature points are lost and other preset position feature points change.

[0005] In related technologies, the method for correcting the preset position is to obtain a monitoring image of the preset position, extract feature points of the monitoring image, and match the feature points with preset position feature points to determine whether the preset position is abnormal and to repair the abnormal preset position.

[0006] However, due to changes in the camera position scene, the preset position may change completely and the preset position feature points may change for various reasons. Therefore, it is difficult to accurately repair the abnormal preset position based only on the difference between the feature points of the monitoring image and the preset position feature points, and the repaired preset position may still be abnormal.

[0007] Therefore, the accuracy of correcting the preset position in related technologies is low. SUMMARY

[0008] Embodiments of the present application provide a method, device, and medium for correcting a preset position to solve the problem of low accuracy in correcting the preset position.

[0009] In a first aspect, a method for correcting a preset position includes:

[0010] The preset position images of a plurality of preset positions contained in the cruise path are acquired, and first extension images of first extension positions respectively associated with the plurality of preset positions and second extension images of second extension positions respectively associated with the plurality of preset positions are acquired, wherein each first extension position is located before a corresponding preset position in the cruise path, and each second extension position is located after the corresponding preset position in the cruise path;

[0011] When cruising according to the cruise path, a corresponding preset position cruise image, a first cruise image and a second cruise image are respectively obtained by photographing at the plurality of preset positions, the first extension positions respectively associated with the plurality of preset positions and the second extension positions respectively associated with the plurality of preset positions;

[0012] The obtained preset position cruise image, the obtained first cruise image and the obtained second cruise image are respectively matched with the corresponding preset position image, the corresponding first extension image and the corresponding second extension image respectively to obtain a corresponding matching result, and the plurality of preset positions, the first extension positions respectively associated with the plurality of preset positions and the second extension positions respectively associated with the plurality of preset positions are repaired based on the obtained matching result.

[0013] In a second aspect, a device for repairing a preset position is provided, comprising:

[0014] An acquisition module is configured to acquire preset position images of a plurality of preset positions contained in a cruise path, and acquire first extension images of first extension positions respectively associated with the plurality of preset positions and second extension images of second extension positions respectively associated with the plurality of preset positions, wherein each first extension position is located before a corresponding preset position in the cruise path, and each second extension position is located after the corresponding preset position in the cruise path;

[0015] A processing module is configured to, when cruising according to the cruise path, obtain a corresponding preset position cruise image, a first cruise image and a second cruise image by photographing at the plurality of preset positions, the first extension positions respectively associated with the plurality of preset positions and the second extension positions respectively associated with the plurality of preset positions respectively;

[0016] The processing module is further configured to respectively match the obtained preset position cruise image, the obtained first cruise image and the obtained second cruise image with the corresponding preset position image, the corresponding first extension image and the corresponding second extension image respectively to obtain a corresponding matching result, and repair the plurality of preset positions, the first extension positions respectively associated with the plurality of preset positions and the second extension positions respectively associated with the plurality of preset positions based on the obtained matching result.

[0017] In a third aspect, a monitoring system is provided, comprising a photographing device and a server, wherein:

[0018] The photographing device is configured to: collect preset position images of a plurality of preset positions included in the cruise path, and collect first extension images of first extension positions respectively associated with the plurality of preset positions and second extension images of second extension positions respectively associated with the plurality of preset positions, wherein each first extension position is located before a corresponding preset position in the cruise path, and each second extension position is located after the corresponding preset position in the cruise path.

[0019] The photographing device is further configured to: when cruising according to the cruise path, photograph the plurality of preset positions, the first extension positions respectively associated with the plurality of preset positions, and the second extension positions respectively associated with the plurality of preset positions respectively to obtain corresponding preset position cruise images, first cruise images, and second cruise images.

[0020] The server is configured to: match the preset position cruise images obtained by the photographing device with the corresponding preset position images, match the first cruise images obtained by the photographing device with the corresponding first extension images, and match the second cruise images obtained by the photographing device with the corresponding second extension images respectively to obtain corresponding matching results, and repair the plurality of preset positions, the first extension positions respectively associated with the plurality of preset positions, and the second extension positions respectively associated with the plurality of preset positions based on the obtained matching results.

[0021] In a fourth aspect, an electronic device is provided, comprising:

[0022] a memory configured to store program instructions;

[0023] a processor configured to invoke the program instructions stored in the memory and perform the method of the first aspect according to the obtained program instructions.

[0024] In the embodiments of the present application, after obtaining the preset position images of the plurality of preset positions included in the cruise path, the first extension images of the first extension positions respectively associated with the plurality of preset positions and the second extension images of the second extension positions respectively associated with the plurality of preset positions are obtained, wherein each first extension position is located before a corresponding preset position in the cruise path, and each second extension position is located after the corresponding preset position in the cruise path. The first extension images and the second extension images in addition to the preset position images are obtained, so that when it is determined whether the preset position is abnormal, the images associated with the preset position used for matching are increased, thereby improving the accuracy of correcting the preset position.

[0025] Further, when cruising along the cruise path, a preset position cruise image, a first cruise image and a second cruise image are obtained by respectively capturing at the plurality of preset positions, and the first extension positions and the second extension positions respectively associated with the plurality of preset positions; the obtained preset position cruise image and the corresponding preset position image are matched respectively, and the obtained first cruise image and the corresponding first extension image are matched respectively, and the obtained second cruise image and the corresponding second extension image are matched respectively, to obtain corresponding matching results, and based on the obtained matching results, the plurality of preset positions, and the first extension positions and the second extension positions respectively associated with the plurality of preset positions are repaired. Since when a preset position is damaged, not only can the preset position be repaired through the preset position image, but also the first extension image and the second extension image associated with the preset position can be matched to determine, and the abnormal situation of the preset position can be analyzed and determined from multiple angles, thereby improving the accuracy of repairing the preset position. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 An application scenario of the method for repairing a preset position provided by the embodiment of the present application

[0027] Figure 2 A flowchart of the method for repairing a preset position provided by the embodiment of the present application Figure One ;

[0028] Figure 3A A principle diagram of the method for repairing a preset position provided by the embodiment of the present application Figure One ;

[0029] Figure 3B A principle diagram of the method for repairing a preset position provided by the embodiment of the present application Figure Two ;

[0030] Figure 3C A third principle diagram of the method for repairing a preset position provided by the embodiment of the present application

[0031] Figure 4 A flowchart of the method for repairing a preset position provided by the embodiment of the present application Figure Two ;

[0032] Figure 5 A third flowchart of the method for repairing a preset position provided by the embodiment of the present application

[0033] Figure 6 A flowchart of the method for repairing a preset position provided by the embodiment of the present application Figure Four ;

[0034] Figure 7 A flowchart of the method for repairing a preset position provided by the embodiment of the present application Figure Five ;

[0035] Figure 8 A structure diagram of the device for modifying the preset position provided by the embodiment of the present application Figure One ;

[0036] Figure 9 A structure diagram of the device for modifying the preset position provided by the embodiment of the present application Figure Two . DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0038] It should be explained that in the embodiments of the present application, related data such as the acquisition of the preset position image is involved, and when the above embodiments of the present application are applied to specific products or technologies, user permission or consent is required each time data is acquired, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0039] The application field of the method for modifying the preset position provided by the embodiments of the present application will be briefly introduced below.

[0040] With the continuous development of the electronic technology field, monitoring cameras are also continuously updated and developed, and among them, a ball camera (PTZ Dome) is an integrated camera integrating a pan-tilt head, a decoder, a protective cover and other functions. It has the characteristics of fast operation speed, optical zoom, accurate positioning, flexible control mode and the like, and is widely used.

[0041] The ball camera has a preset function, which means that it can store related parameters (PTZ parameters) such as the horizontal angle, the tilt angle and the camera lens focal length of the pan-tilt head at the preset position under the current state to the memory, and can quickly call these parameters and adjust the pan-tilt head and the camera to the position when needed.

[0042] Since the accuracy of the mechanical rotating shaft of the pan-tilt head affects the positioning of the preset position, when the accuracy of the mechanical rotating shaft is not enough due to wear and other reasons, the preset position positioning is abnormal, when the pan-tilt head is cruising according to the preset position, it will deviate from the original position, so that the monitoring picture is shifted and a cruising error is generated. After the monitoring picture is shifted, the feature points of the corresponding preset position are lost and other changes of the preset position feature points occur.

[0043] In the related art, the method for modifying the preset position is to acquire a monitoring image of the preset position, extract feature points of the monitoring image and match them with preset position feature points to determine whether the preset position is abnormal, and repair the abnormal preset position.

[0044] However, due to the variety of reasons for the change of the preset feature points, there are various changes of the preset feature points, and therefore, it is difficult to accurately repair the abnormal preset position only according to the difference between the feature points of the monitoring image and the preset feature points, and the repaired preset position may still be abnormal.

[0045] It can be seen that the accuracy of the modified preset position in the related art is low.

[0046] In order to solve the problem of low accuracy of the modified preset position in the prior art, the present application provides a method for modifying a preset position. After obtaining preset position images of a plurality of preset positions included in a cruise path, first extension images of first extension positions respectively associated with the plurality of preset positions and second extension images of second extension positions are obtained. Each first extension position is located before the corresponding preset position in the cruise path, and each second extension position is located after the corresponding preset position in the cruise path. When cruising according to the cruise path, a corresponding preset position cruise image, a first cruise image and a second cruise image are obtained by respectively shooting the plurality of preset positions, the first extension positions respectively associated with the plurality of preset positions and the second extension positions. The obtained preset position cruise image and the corresponding preset position image, the obtained first cruise image and the corresponding first extension image, and the obtained second cruise image and the second extension image are matched respectively to obtain corresponding matching results, and the plurality of preset positions, the first extension positions respectively associated with the plurality of preset positions and the second extension positions are repaired based on the obtained matching results.

[0047] In the embodiments of the present application, after obtaining the preset position images of the plurality of preset positions included in the cruise path, the first extension images of the first extension positions respectively associated with the plurality of preset positions and the second extension images of the second extension positions are obtained. Each first extension position is located before the corresponding preset position in the cruise path, and each second extension position is located after the corresponding preset position in the cruise path. The first extension images and the second extension images other than the preset position images are obtained, so that when determining whether the preset position is abnormal, the images related to the preset position used for matching are increased, thereby improving the accuracy of the modified preset position.

[0048] Further, when cruising along the cruise path, the preset position, the first extension position and the second extension position are photographed respectively to obtain the corresponding preset position cruise image, the first cruise image and the second cruise image; the obtained preset position cruise image and the corresponding preset position image are matched respectively, and the obtained first cruise image and the corresponding first extension image are matched respectively, and the obtained second cruise image and the corresponding second extension image are matched respectively to obtain the corresponding matching result, and based on the obtained matching result, the preset position, the first extension position and the second extension position are repaired. When a preset position is damaged, not only the preset position can be repaired through the preset position image, but also the first extension image and the second extension image associated with the preset position can be matched to analyze and judge the abnormal situation of the preset position from multiple angles, thereby improving the accuracy of repairing the preset position.

[0049] The application scenario of the method for repairing the preset position provided in the present application is described below.

[0050] Please refer to Figure 1 An applicable system of the method for repairing the preset position provided in the present application is shown in the schematic diagram of a monitoring system. The system includes a shooting device 101 and a server 102. The shooting device 101 and the server 102 can communicate with each other. The communication mode can be wired communication technology, for example, through a network cable or a serial port cable; or wireless communication technology, for example, through Bluetooth or wireless fidelity (WIFI) technology, which is not limited.

[0051] The shooting device 101 generally refers to a device that can provide a preset position image to the server 102 and is arranged on the boundary of a monitoring area. The shooting device can be connected with other devices, for example, a terminal device, a third-party application program accessible by the terminal device or a webpage accessible by the terminal device, etc. The terminal device includes but is not limited to a mobile phone, a computer, a smart traffic device, a smart electrical appliance, etc. The server 102 generally refers to a device that can repair the preset position, for example, a terminal device or a server, etc. The server includes but is not limited to a cloud server, a local server or an associated third-party server, etc. The shooting device 101 and the server 102 can both use cloud computing to reduce the occupation of local computing resources; similarly, cloud storage can also be used to reduce the occupation of local storage resources.

[0052] As an embodiment, the shooting device 101 and the server 102 can be the same device, for example, the present application embodiment can be implemented only by the shooting device 101, or only by the server 102, etc., which is not limited. In the present application embodiment, the shooting device 101 and the server 102 are taken as different devices for example.

[0053] The method for modifying the preset positions provided by the embodiments of the present application is described in detail below. Please refer to Figure 2 , a flowchart of the method for modifying the preset positions provided by the embodiments of the present application.

[0054] S201, obtain the preset position images of the plurality of preset positions contained in the cruise path, and obtain the first extension images of the first extension positions respectively associated with the plurality of preset positions and the second extension images of the second extension positions respectively associated with the plurality of preset positions.

[0055] Each first extension position is located before the corresponding preset position in the cruise path, and each second extension position is located after the corresponding preset position in the cruise path.

[0056] The cruise path is determined by the plurality of preset positions, and the determination manner of the cruise path can include: when the preset positions are sequentially distributed, running according to the actual sequence; when the preset positions are not sequentially distributed, running according to the preset position setting sequence; when the user manually cruises through the shooting device, selecting a cruise path after comparing a plurality of cruise paths, etc., which is not limited in detail.

[0057] When the cruise path is determined, if the cruise path is associated with a limit position, the cruise path can be set as a path avoiding the limit position, wherein the preset position setting sequence is the sequence set by the shooting device, and the limit position is a position where the shooting cannot continue to rotate during the cruise process. Based on the preset positions and the cruise path, the associated first extension positions and second extension positions are obtained, and the preset position images, the first extension images and the second extension images are obtained by shooting during the cruise process.

[0058] For example, five preset positions are taken as an example, including a camera, a first preset position, a second preset position, a third preset position, a fourth preset position and a fifth preset position. The included angle between two adjacent preset positions is recorded during the running process, and the first extension positions and the second extension positions are determined based on the included angle. When the cruise path is determined, please refer to Figure 3A , when the preset positions are sequentially distributed, the cruise path is run in the order from the first preset position to the second preset position, then to the third preset position, to the fourth preset position and finally to the fifth preset position, and the shooting is performed after running to the corresponding preset position, and the included angle with the adjacent preset position is recorded.

[0059] Please refer to Figure 3B , when the preset positions are not sequentially distributed, the cruise path is run in the order of Figure 3BWhen the preset position setting is shown, the preset position setting can be run in the order of the first preset position, the second preset position, the third preset position, the fourth preset position, and the fifth preset position. After running to the corresponding preset position, the photographing is performed, and the included angle with the adjacent preset position is recorded. It should be noted that when the angle is recorded, the angle between the first preset position and the fifth preset position is the angle between the fourth preset position and the fifth preset position plus the angle between the first preset position and the fourth preset position.

[0060] Please refer to Figure 3C When the user manually cruises through the photographing device, the cruise path is confirmed by the user, and two paths from the first preset position to the third preset position are compared. The first path is from the first preset position to the second preset position, and then from the second preset position to the third preset position. The second path is from the first preset position to the third preset position through the fifth preset position and the fourth preset position. The angles of rotation of the two paths can be recorded, and the smaller angle of rotation is determined as the cruise path. The time required for the two rotations can also be recorded, and the shorter time is taken as the cruise path. The number of paths compared is not limited.

[0061] The cruise path is determined to facilitate the acquisition of the associated first extension position and the second extension position, and the first extension image and the second extension image are obtained. The matching range for judging whether the preset position needs to be corrected is expanded, and the accuracy of the judgment of whether the preset position needs to be corrected is increased.

[0062] As an embodiment, the cruise path has an associated cruise photographing position, that is, the position of the camera. The first extension position has an included angle with the preset position, and the second extension position has an included angle with the preset position. The first extension image of the first extension position and the second extension image of the second extension position are obtained by photographing the first extension position and the second extension position at the cruise photographing position, respectively. The first angle can be set to be smaller than the included angle between the current preset position and the previous adjacent preset position with the cruise photographing position as the origin. The second angle can be set to be smaller than the included angle between the current preset position and the next adjacent preset position with the cruise photographing position as the origin, and the specific limitation is not made.

[0063] To ensure that the image features corresponding to the first extension image and the second extension image corresponding to different extension positions are the same or to prevent the occurrence of no image features, the first angle and the second angle can be adjusted. If the first angle and the second angle are both preset to be 10 degrees, but the image features of the first extension image of the current preset position are the same as the image features of the first extension image of the next preset position, the first angle corresponding to the next preset position is adjusted, for example, to 15 degrees. This prevents the problem of inaccurate matching judgment due to similar feature points in the matching process.

[0064] S202, when cruising according to the cruise path, respectively, in a plurality of preset positions, and a plurality of preset positions respectively associated with the first extension and the second extension position shooting, obtain the corresponding preset position cruise image, the first cruise image and the second cruise image.

[0065] Taking one preset position and the associated first extension and second extension as an example, when cruising according to the cruise path determined by the preset position, cruising to the first extension to take pictures to get the first cruise image, continue to rotate a first angle along the cruise path to the preset position, take pictures at the preset position to get the preset position cruise image, continue to rotate a second angle along the cruise path to the second extension, take pictures at the second extension to get the second cruise image. The shooting process of each preset position and the associated first extension and second extension is similar, and will not be repeated here.

[0066] S203, respectively, match the obtained preset position cruise image with the corresponding preset position image, and the obtained first cruise image with the corresponding first extension image, and the obtained second cruise image with the second extension image, obtain the corresponding matching result, and based on the obtained matching result, repair the plurality of preset positions, and the first extension and the second extension associated with the plurality of preset positions.

[0067] Taking one preset position as an example, the obtained first cruise image and the first extension image are matched, and the obtained preset position cruise image and the preset position image can be further matched, and the obtained second cruise image and the second extension image can be further matched, and the obtained matching result is used to repair the preset position and the first extension and the second extension associated with the preset position. After matching and repairing each preset position and the associated first extension and second extension, the repair of the cruise path can be completed.

[0068] As an embodiment, the obtained preset position cruise image, the first cruise image and the second cruise image are used for matching process, and when matching with the preset position image, the first extension image and the second extension image, it can be based on the feature points contained in the image to match. The feature points are used to represent the position characteristics of the corresponding image, and a plurality of feature points contained in the image can constitute a geometric figure, so two images can also be matched based on the geometric figure, and the specific implementation is not limited.

[0069] Taking a preset bit as an example, feature extraction is performed on the preset bit image to obtain a plurality of preset bit feature points of the preset bit image, the plurality of preset bit feature points are used to represent the position characteristics of the preset bit image, and the plurality of preset bit feature points form a preset bit geometric pattern. Feature extraction is also performed on the extension image associated with the preset bit, to extract a plurality of first extension feature points of the first extension image and a plurality of second extension feature points of the second extension image. Then, the plurality of first extension feature points form a first extension geometric pattern, and the plurality of second extension feature points form a second extension geometric pattern.

[0070] Taking image matching based on image feature points as an example, feature extraction is performed on the preset bit image, the first extension image and the second extension image to obtain a plurality of preset bit cruise feature points, a plurality of first cruise feature points and a plurality of second cruise feature points. First, the first cruise image and the first extension image are matched, and the matching analysis can be performed based on the plurality of first cruise feature points and the plurality of first extension feature points to determine whether the first extension bit needs to be updated. Further, the preset bit cruise image and the preset bit image can be matched, and the matching analysis can be performed based on the plurality of preset bit cruise feature points and the plurality of preset bit feature points to determine whether the preset bit needs to be updated and corrected. Further, the second cruise image and the second extension image can be matched, and the matching analysis can be performed based on the plurality of second cruise feature points and the plurality of second extension feature points to determine whether the second extension bit needs to be updated.

[0071] Since the preset bit can be matched and judged according to the extension bit in the present application, when the preset bit is damaged, the matching judgment can be performed according to the first extension image and the second extension image associated with the preset bit, thereby reducing the problem of low accuracy of correcting the preset bit due to damage of the preset bit.

[0072] As an embodiment, the matching process of a preset bit and associated first extension bit and second extension bit is introduced as an example:

[0073] When the first cruise image corresponding to the preset bit is matched with the first extension image, the result obtained is that the two images do not match, and when the preset bit cruise image corresponding to the preset bit is matched with the preset bit image, the matching result obtained is that the two images match, and the first matching result of the preset bit is obtained, which represents that the first extension bit corresponding to the preset bit is abnormal.

[0074] When the first cruise image corresponding to the preset bit is matched with the first extension image, the result obtained is that the two images match, and when the preset bit cruise image corresponding to the preset bit is matched with the preset bit image, the result obtained is also that the two images match, and the second matching result of the preset bit is obtained, which represents that the preset bit is not abnormal.

[0075] After determining that the preset position is normal, continue to determine the matching result of the next adjacent preset position according to the cruise path.

[0076] Taking image matching based on image feature points as an example, first, the first cruise image and the first extended image are matched. The matching analysis can be performed based on the plurality of first cruise feature points and the plurality of first extended feature points. If the plurality of first cruise feature points corresponding to the first extended position and the plurality of first extended feature points are partially matched or not matched at all, the first matching result is obtained, indicating that the first extended position has an abnormal situation.

[0077] If the plurality of first cruise feature points corresponding to the first extended position and the plurality of first extended feature points are all matched, it indicates that the first extended position is normal, and the cruise is continued. The first extended angle is rotated to the preset position, and the matching of the preset position cruise image and the corresponding preset position image is performed. The matching analysis can be performed based on the plurality of preset position cruise feature points and the plurality of preset position feature points. If the plurality of preset position cruise feature points corresponding to the preset position and the plurality of preset position feature points are all matched, the second matching result is obtained, indicating that the preset position is normal.

[0078] The process of matching analysis using preset position feature points can be: the plurality of preset position feature points are used to represent the position characteristics of the preset position image, the plurality of preset position feature points can form a preset position geometric figure, and the preset position feature points can include the center point of the preset position image. The plurality of preset position cruise feature points are used to represent the position characteristics of the preset position cruise image, the plurality of preset position cruise feature points can form a preset position cruise geometric figure, and the preset position cruise feature points can include the center point of the preset position cruise image. When matching analysis is performed based on image feature points, the center points contained in the feature points can be matched first. After the center points are matched, the matching can be performed based on the preset position geometric figure formed by the plurality of preset position feature points and the preset position cruise geometric figure formed by the plurality of preset position cruise feature points. Alternatively, the feature points can be matched one by one, and the specific implementation is not limited.

[0079] The matching process of other each preset position and the associated first extended position is similar, which will not be described here.

[0080] For example, please refer to Figure 4 The flowchart for obtaining the first matching result and the second matching result.

[0081] S401, match the first cruise image and the first extended image. The matching can be performed based on the feature points contained in the image, and the specific implementation is not limited. If the first cruise image and the first extended image are not matched, S402-S404 are executed; if the first cruise image and the first extended image are matched, S405-S407 are executed.

[0082] S402, determine that the first cruise image does not match the first extended image. The case of not matching can include that, when the matching analysis is performed based on the plurality of first cruise feature points and the plurality of first extended feature points, the plurality of first cruise feature points and the plurality of first extended feature points are partially matched or not matched at all.

[0083] S403, preset position cruise image matches preset position image. After obtaining the matching result of the first cruise image and the first extended image, continue to cruise according to the cruise path, rotate a first angle to the preset position, and perform matching between the preset position cruise image and the preset position image. The matching can be based on the matching analysis of the plurality of preset position cruise feature points and the plurality of preset position feature points. If the preset position cruise feature points and the preset position feature points are completely matched, then continue to perform S404.

[0084] S404, obtain the first matching result, indicating that the first extended position has an abnormal situation.

[0085] S405, determine that the first cruise image matches the first extended image. When the matching analysis is performed based on the plurality of first cruise feature points and the plurality of first extended feature points, the plurality of first cruise feature points and the plurality of first extended feature points are completely matched.

[0086] S406, the preset position cruise image matches the preset position image, which can be specifically referred to the introduction of S403, and will not be repeated here.

[0087] S407, obtain the second matching result, indicating that the preset position has no abnormality.

[0088] As an embodiment, the matching process of a preset position and the associated first extended position and second extended position is introduced as an example:

[0089] When the first cruise image corresponding to the preset position matches the first extended image, and the preset position cruise image corresponding to the preset position does not match the preset position image, based on the image adjustment strategy, the preset position cruise image corresponding to the preset position is adjusted to obtain the preset position adjustment image. The adjustment image is to avoid the deviation in image matching when cruising according to the cruise path, because the cruise process can be along the cruise path or against the cruise path. The adjustment image can be mirror flipped or center rotated with the image center point as the center, which is not limited.

[0090] Then, the preset position adjustment image corresponding to the preset position is matched with the preset position image. When the preset position adjustment image corresponding to the preset position does not match the preset position image, continue to cruise to the second extended position associated with the preset position, and match the second cruise image corresponding to the preset position with the second extended image. When the second cruise image corresponding to the preset position matches the second extended image, obtain the third matching result of the preset position, and the third matching result represents that the preset position is abnormal.

[0091] Taking image matching based on image feature points as an example, when the first cruise image corresponding to the preset position matches the first extended image, and the preset position cruise image corresponding to the preset position does not match the preset position image, the preset position cruise image corresponding to the preset position is adjusted, and the preset position feature point can include the center point of the preset position image. In the matching process, the center point can be used for matching and image adjustment. The preset position adjustment image corresponding to the preset position is matched with the preset position image, and a plurality of preset position cruise feature points are obtained by performing image feature extraction on the preset position adjustment image. When the preset position adjustment image does not match the preset position image, the matching analysis is continued, the second extended position associated with the preset position is cruised, the second cruise image corresponding to the preset position is matched with the second extended image, and the matching analysis can be performed based on the plurality of second cruise feature points and the plurality of second extended feature points. If all the feature points match, a third matching result is obtained.

[0092] The matching processes of other preset positions and associated first extended positions and second extended positions are similar, and will not be described here.

[0093] For example, please refer to Figure 5 for a flowchart of obtaining the third matching result.

[0094] S501, after matching the first cruise image with the first extended image, it is determined that the first cruise image corresponding to the preset position matches the first extended image, and after matching the preset position cruise image with the preset position image, it is determined that the preset position cruise image corresponding to the preset position does not match the preset position image.

[0095] S502, it is determined that the preset position cruise image does not match the preset position image, and the preset position cruise image is adjusted based on the image adjustment strategy to obtain the preset position adjustment image. The obtained preset position adjustment image can be obtained by mirroring the preset position cruise image, and the specific limitation is not limited.

[0096] S503, the preset position adjustment image is matched with the preset position image, and the matching result is that the preset position adjustment image does not match the preset position image. The matching analysis can be performed based on the preset position cruise feature point and the preset position feature point to obtain the matching result that the preset position cruise feature point and the preset position feature point do not match. Continue to cruise to the second extended position according to the cruise path, and continue to perform S504.

[0097] S504, matching the second cruise image and the second extended image, and a matching result is that the second cruise image and the second extended image are matched. The matching analysis can be performed based on the second cruise feature points and the second extended feature points, and the matching result is that the second cruise feature points and the second extended feature points are completely matched, and then S505 is executed.

[0098] S505, obtaining a third matching result indicating that the preset position is abnormal.

[0099] As an embodiment, the matching process of one preset position and the associated first extended position and second extended position is introduced as an example:

[0100] When the preset position adjustment image corresponding to the preset position is matched with the preset position image, image feature extraction is performed on the preset position adjustment image to obtain a plurality of preset position cruise feature points, and a cruise geometric figure is generated based on the plurality of cruise feature points.

[0101] The image matching is performed based on the geometric image composed of the image feature points, the cruise geometric figure is matched with the corresponding preset position geometric figure, when the geometric figures are completely not overlapped, the second extended angle is rotated to the second extended position, the second cruise image and the second extended image are matched, if the plurality of second cruise feature points and the plurality of second extended feature points are all matched, a fourth matching result is obtained, indicating that the preset position feature points of the current preset position all need to be corrected.

[0102] When the preset position adjustment image corresponding to the preset position is matched with the preset position image, the cruise geometric figure is matched with the corresponding preset position geometric figure, when the cruise geometric figure and the preset position geometric figure are partially overlapped, a fifth matching result is obtained, indicating that the feature point geometric figure corresponding to the current preset position needs to be corrected.

[0103] The matching process of other each preset position and the associated first extended position and second extended position is similar, and will not be described here.

[0104] As an embodiment, the matching process of one preset position and the associated first extended position and second extended position is introduced as an example:

[0105] When the preset position adjustment image corresponding to the preset position is not matched with the preset position image, the cruise route is continued to cruise to the second extended position, the second cruise image corresponding to the preset position is matched with the second extended image, when the second cruise image corresponding to the preset position is not matched with the second extended image, a sixth matching result of the preset position is obtained, wherein the sixth matching result indicates that the current preset position is abnormal, and the corresponding second extended position is abnormal, indicating that the current preset position has been completely destroyed or the camera position has been changed.

[0106] Taking image matching based on image feature points as an example, when the preset position adjustment image corresponding to the preset position does not match the preset position image, the second extension position is continued to cruise according to the cruise route, and the second cruise image corresponding to the preset position and the second extension image are matched. The matching analysis can be performed based on the plurality of second cruise feature points and the plurality of second extension feature points, and if the plurality of second cruise feature points and the plurality of second extension feature points are all unmatched, the sixth matching result of the preset position is obtained.

[0107] The matching process of each other preset position and the associated second extension position is similar, and will not be described here.

[0108] If the sixth matching result is obtained, the cruise is continued to match the preset position on the cruise path. When the preset position on the cruise path can be matched successfully, it is proved that the plurality of preset positions are damaged. When the plurality of preset positions on the cruise route are all unmatched, it is proved that the camera position is changed.

[0109] Please refer to Figure 6 The flowchart for obtaining the fourth matching result, the fifth matching result and the sixth matching result is shown.

[0110] S601, the preset position adjustment image and the preset position image are matched. The matching can be performed based on the geometric figure composed of the preset position feature points, and the specific implementation is not limited. If the cruise geometric figure and the corresponding preset position geometric figure are completely unmatched, S602-S604 are executed; if the cruise geometric figure and the corresponding preset position geometric figure are partially matched, S605-S606 are executed; and if the preset position adjustment image and the preset position image are unmatched, S607-S609 are executed.

[0111] S602, when the matching is performed based on the geometric figure composed of the preset position feature points, it is determined that the preset position cruise geometric figure and the corresponding preset position geometric figure are completely unmatched, the cruise is continued according to the cruise path, and a second angle is turned to the second extension position, and S603 is continued to be executed.

[0112] S603, the second cruise image and the second extension image are matched. The matching analysis can be performed based on the plurality of second cruise feature points and the plurality of second extension feature points, the feature points are completely matched, the matching result is that the second cruise image and the second extension image are completely matched, and S604 is continued to be executed.

[0113] S604, the fourth matching result is obtained, and it is indicated that the preset position feature points all need to be corrected.

[0114] S605, when the matching is performed based on the geometric figure composed of the preset position feature points, it is determined that the cruise geometric figure and the corresponding preset position geometric figure are partially matched, and S606 is continued to be executed.

[0115] S606, a fifth matching result is obtained, indicating that the geometric figure composed of the preset position corresponding feature points needs to be corrected.

[0116] S607, it is determined that the preset position adjustment image and the preset position image are not matched, and the matching method is not limited. Continue to cruise along the cruise path, rotate a second angle to a second expansion position, and continue to execute S608.

[0117] S608, the second cruise image and the second expansion image are matched. The matching analysis can be performed based on a plurality of second cruise feature points and a plurality of second expansion feature points. If the plurality of second cruise feature points and the plurality of second expansion feature points are not matched, the matching result is that the second cruise image and the second expansion image are not matched, and then S609 is executed.

[0118] S609, a sixth matching result is obtained, indicating that the preset position has been completely destroyed or the camera position has been changed.

[0119] As an embodiment, the matching result includes the first matching result, the third matching result, the fourth matching result, the fifth matching result and the sixth matching result described above. The first matching result represents that the corresponding first expansion position is abnormal. The third matching result represents that the corresponding preset position is abnormal. The fourth matching result represents that the corresponding preset position is abnormal, and the abnormal level is complete abnormality. The fifth matching result represents that the corresponding preset position is abnormal, and the abnormal level is partial abnormality. The sixth matching result represents that the corresponding preset position and the second expansion position are abnormal.

[0120] When it is determined that the obtained matching result is the first matching result, the first expansion image is updated based on the corresponding first cruise image.

[0121] When it is determined that the obtained matching result is one of the third matching result, the fourth matching result or the fifth matching result, the preset position image is updated based on the corresponding preset position adjustment image.

[0122] When it is determined that the obtained matching result is the sixth matching result, the preset position image and the second expansion image are updated based on the corresponding preset position adjustment image and the corresponding second cruise image, respectively.

[0123] Taking image matching based on image feature points as an example:

[0124] When the obtained matching result is the first matching result, it indicates that the first extension bit has an abnormal condition. Taking matching based on image feature points as an example, the degree of abnormal condition can include partial abnormality or total abnormality. The partial abnormality condition is that, when matching, the plurality of first cruise feature points and the plurality of first extension feature points only partially match. The total abnormality condition is that, when matching, the plurality of first cruise feature points and the plurality of first extension feature points do not match at all. If the degree of abnormality of the first extension bit is partial abnormality, the plurality of first extension feature points is updated based on the first cruise image and the first cruise feature points. If the degree of abnormality of the first extension bit is total abnormality, the first cruise image is updated as the first extension image.

[0125] When the obtained matching result is the third matching result, it indicates that the current preset bit is abnormal, but the first extension bit and the second extension bit corresponding to the preset bit are not abnormal, and the current preset bit needs to be repaired. Taking matching based on image feature points as an example, when the plurality of preset bit adjustment feature points corresponding to the preset bit adjustment image do not match the plurality of preset feature points, the preset feature points are all updated and adjusted to the plurality of preset bit adjustment feature points corresponding to the preset bit adjustment image.

[0126] When the obtained matching result is the fourth matching result, it indicates that the current preset bit is abnormal, and the degree of abnormality is complete abnormality. The preset feature points of the current preset bit are all destroyed, and all feature points need to be updated. The preset bit still exists, and the preset feature points need to be updated to the preset cruise feature points corresponding to the preset cruise image. After updating, the user can be notified to confirm the updated preset bit, to ensure the accuracy of the corrected preset bit.

[0127] When the obtained matching result is the fifth matching result, it indicates that the current preset bit is abnormal, and the degree of abnormality is partial abnormality. The geometric figure composed of the preset cruise feature points partially matches the geometric figure composed of the preset feature points, and the feature point geometric figure corresponding to the current preset bit needs to be corrected. The preset cruise feature points corresponding to the preset cruise image are updated for the part that does not match the preset feature points. The updated preset feature points are grouped, at least three preset feature points can be grouped into a group, each group of feature points constitutes a new preset geometric figure, and the new preset geometric figure that does not match is updated.

[0128] When the obtained matching result is the sixth matching result, it indicates that the current preset position is completely destroyed, cruising is continued, and the preset positions on the cruising path are matched in the cruising order. The next preset position adjacent to the current preset position is matched first. If the matching is successful, the current preset position needs to be updated. If the matching is unsuccessful, cruising is continued to the next preset position for matching until a completely matched preset position is determined. The multiple destroyed preset positions before the completely matched preset position need to be updated and corrected. When the multiple preset positions on the cruising path are not matched, it indicates that the camera is moved to a position completely different from the predetermined monitoring position, and the related data of all preset positions and associated extension positions need to be updated, and the user is notified to confirm all updated preset positions.

[0129] Please refer to Figure 7 for a preset position and associated extension position image matching result and preset position correction flowchart.

[0130] S701, it is determined that the first cruising image and the corresponding first extension image are not matched, a first matching result is obtained, it indicates that the first extension position has an abnormal condition, and S702 is continued to be executed.

[0131] S702, correction is performed based on the first matching result, the first extension image is updated based on the first cruising image.

[0132] S703, it is determined that the first cruising image and the corresponding first extension image are matched and the preset position cruising image and the preset position image are matched, a second matching result is obtained, it indicates that the preset position has no abnormal condition, and S704 is continued to be executed.

[0133] S704, the preset position is normal and does not need to be corrected.

[0134] S705, it is determined that the preset position adjustment image and the preset position image are not matched and the second cruising image and the second extension image are matched, a third matching result is obtained, it indicates that the preset position is abnormal, and S706 is continued to be executed.

[0135] S706, correction is performed based on the third matching result, the preset position is corrected, and the preset position feature point can be updated or the preset position image can be updated.

[0136] S707, it is determined that the preset position cruising geometric figure and the corresponding preset position geometric figure are completely not matched and the second cruising image and the second extension image are completely matched, a fourth matching result is obtained, it indicates that the preset position is completely abnormal, and S708 is continued to be executed.

[0137] S708, based on the fourth matching result, the fourth matching result indicates that the preset position exists, the preset position feature point needs to be updated to the preset position cruise image corresponding preset position cruise feature point, and the user is informed after the update to confirm the updated preset position.

[0138] S709, it is determined that the cruise geometric pattern partially matches the corresponding preset position geometric pattern, a fifth matching result is obtained, which indicates that the preset position is partially abnormal, and S710 is continuously executed.

[0139] S710, based on the fifth matching result, the feature point geometric pattern corresponding to the preset position is modified, the preset position cruise feature point corresponding to the preset position cruise image can be updated in the part that does not match the preset position feature point, the updated preset position feature point is grouped, at least three preset position feature points can be grouped into a group, and each group of feature points constitutes a new preset position geometric pattern.

[0140] S711, it is determined that the preset position adjustment image does not match the preset position image and the second cruise image does not match the second expansion image, a sixth matching result is obtained, which indicates that the preset position is completely destroyed, and S712 is continuously executed.

[0141] S712, based on the sixth matching result, the modification is carried out from the current preset position to the next preset position for matching judgment, if the matching is successful, the current destroyed preset position is updated; if the matching fails, the cruise is continuously carried out and the preset position matching is carried out, and the modification is carried out according to the matching condition.

[0142] Based on the same inventive concept, the embodiment of the present application provides a device 800 for modifying the preset position, which can realize the functions corresponding to the foregoing method for modifying the preset position. Please refer to the figure, the device comprises an acquisition module 801 and a processing module 802, wherein:

[0143] The acquisition module 801 is used for acquiring the preset position images of a plurality of preset positions contained in a cruise path, and acquiring the first expansion images of a plurality of first expansion positions respectively associated with the plurality of preset positions and the second expansion images of a plurality of second expansion positions, wherein each first expansion position is located before the corresponding preset position in the cruise path, and each second expansion position is located after the corresponding preset position in the cruise path;

[0144] The processing module 802 is used for shooting at the plurality of preset positions, the first expansion positions respectively associated with the plurality of preset positions and the second expansion positions respectively associated with the plurality of preset positions to obtain corresponding preset position cruise images, first cruise images and second cruise images when cruising according to the cruise path.

[0145] The processing module 802 is further configured to match the obtained preset position cruise image and the corresponding preset position image, the obtained first cruise image and the corresponding first extended image, and the obtained second cruise image and the second extended image respectively, obtain a corresponding matching result, and based on the obtained matching result, repair the plurality of preset positions, and the first extended position and the second extended position associated with each of the plurality of preset positions.

[0146] In a possible embodiment, the cruise path has an associated cruise shooting position, and the processing module 802 is specifically configured to:

[0147] For the plurality of preset positions, the following operations are performed:

[0148] The first extended position and the second extended position associated with the preset position are obtained, wherein the first extended position has the cruise shooting position as the origin and a first angle between the preset position, and the second extended position has the cruise shooting position as the origin and a second angle between the preset position.

[0149] The first extended image of the first extended position and the second extended image of the second extended position are obtained by shooting the first extended position and the second extended position at the cruise shooting position respectively.

[0150] In a possible embodiment, the processing module 802 is specifically configured to:

[0151] For the plurality of preset positions, the following operations are performed respectively:

[0152] When it is determined that the first cruise image corresponding to the current preset position and the corresponding first extended image are not matched, and the preset position cruise image corresponding to the current preset position and the corresponding preset position image are matched, a first matching result of the current preset position is obtained, wherein the first matching result indicates that the first extended position corresponding to the current preset position is abnormal.

[0153] When it is determined that the first cruise image corresponding to the current preset position and the corresponding first extended image are matched, and the preset position cruise image corresponding to the current preset position and the corresponding preset position image are matched, a second matching result of the current preset position is obtained, wherein the second matching result indicates that the current preset position is not abnormal.

[0154] The matching result of the next adjacent preset position is determined according to the cruise path.

[0155] In a possible embodiment, the processing module 802 is specifically configured to:

[0156] For the plurality of preset positions, the following operations are performed respectively:

[0157] determining that the first cruise image corresponding to the current preset position matches the corresponding first extended image, and that the preset position cruise image corresponding to the current preset position does not match the corresponding preset position image, and based on the image adjustment strategy, adjusting the preset position cruise image corresponding to the current preset position to obtain a preset position adjustment image;

[0158] determining that the preset position adjustment image corresponding to the current preset position does not match the corresponding preset position image, and that the second cruise image corresponding to the current preset position matches the corresponding second extended image, and obtaining a third matching result of the current preset position, wherein the third matching result indicates that the current preset position is abnormal.

[0159] In a possible embodiment, the processing module 802 is specifically configured to:

[0160] extracting features from the preset position adjustment image corresponding to the current preset position to obtain a plurality of cruise feature points, and generating a cruise geometric figure based on the plurality of cruise feature points;

[0161] determining that the cruise geometric figure does not completely coincide with the corresponding preset position geometric figure, and that the second cruise image corresponding to the current preset position matches the corresponding second extended image, and obtaining a fourth matching result of the current preset position, wherein the fourth matching result indicates that the current preset position is abnormal, and the abnormality level is complete abnormality.

[0162] In a possible embodiment, the preset position image is associated with a plurality of preset position feature points, the plurality of preset position feature points are used to represent the position characteristics of the preset position image, the plurality of preset position feature points constitute a preset position geometric figure, and the processing module 802 is further configured to:

[0163] after extracting features from the preset position adjustment image corresponding to the current preset position to obtain a plurality of cruise feature points, and generating a cruise geometric figure based on the plurality of cruise feature points, determining that the cruise geometric figure does not completely coincide with the corresponding preset position geometric figure, and obtaining a fifth matching result of the current preset position, wherein the fifth matching result indicates that the current preset position is abnormal, and the abnormality level is partial abnormality.

[0164] In a possible embodiment, the processing module 802 is further configured to:

[0165] after adjusting the preset position cruise image corresponding to the current preset position based on the image adjustment strategy to obtain a preset position adjustment image, determining that the preset position adjustment image corresponding to the current preset position does not match the corresponding preset position image, and that the second cruise image corresponding to the current preset position does not match the corresponding second extended image, and obtaining a sixth matching result of the current preset position, wherein the sixth matching result indicates that the current preset position is abnormal, and the corresponding second extended position is abnormal.

[0166] In a possible embodiment, the matching result includes a first matching result, a third matching result, a fourth matching result, a fifth matching result, and a sixth matching result, the first matching result represents a corresponding first extended bit anomaly, the third matching result represents a corresponding preset bit anomaly, the fourth matching result represents a corresponding preset bit anomaly, and the anomaly level is a complete anomaly, the fifth matching result represents a corresponding preset bit anomaly, and the anomaly level is a partial anomaly, and the sixth matching result represents a corresponding preset bit and second extended bit anomaly, and the processing module 802 is specifically configured to:

[0167] When it is determined that the obtained matching result is the first matching result, updating the first extended image based on the corresponding first cruise image;

[0168] When it is determined that the obtained matching result is one of the third matching result, the fourth matching result, or the fifth matching result, updating the preset bit image based on the corresponding preset bit adjustment image;

[0169] When it is determined that the obtained matching result is the sixth matching result, updating the preset bit image and the second extended image based on the corresponding preset bit adjustment image and the corresponding second cruise image, respectively.

[0170] Based on the same inventive concept, the embodiments of the present application also provide a monitoring system, which includes a shooting device and a server.

[0171] The shooting device is configured to: collect preset bit images of a plurality of preset bits included in a cruise path, and collect first extended images of first extended bits respectively associated with the plurality of preset bits and second extended images of second extended bits, where each first extended bit is located before a corresponding preset bit in the cruise path, and each second extended bit is located after the corresponding preset bit in the cruise path; and the shooting device is further configured to: when cruising according to the cruise path, shooting at the plurality of preset bits, and the first extended bits and the second extended bits respectively associated with the plurality of preset bits, to obtain corresponding preset bit cruise images, first cruise images, and second cruise images.

[0172] The server is configured to: match the preset bit cruise images obtained by the shooting device with the corresponding preset bit images, the first cruise images obtained by the shooting device with the corresponding first extended images, and the second cruise images obtained by the shooting device with the second extended images, respectively, to obtain corresponding matching results, and based on the obtained matching results, to repair the plurality of preset bits, and the first extended bits and the second extended bits respectively associated with the plurality of preset bits.

[0173] The method for correcting the preset bit provided in any of the above embodiments of the present application can be applied to the above monitoring system, and thus will not be described here.

[0174] Please refer to Figure 9The device for modifying the preset bit can be run on the electronic device 900, and the current version and the historical version of the data storage program and the application software corresponding to the data storage program can be installed on the electronic device 900, which includes the processor 980 and the memory 920. In some embodiments, the electronic device 900 can include a display unit 940, which includes a display panel 941 for displaying the user interaction interface and the like.

[0175] In a possible embodiment, the display panel 941 can be configured in the form of a liquid crystal display (LCD) or an organic light-emitting diode (OLED).

[0176] The processor 980 is configured to read a computer program and then execute the method defined by the computer program. For example, the processor 980 reads the data storage program or a file, so as to run the data storage program on the electronic device 900 and display the corresponding interface on the display unit 940. The processor 980 can include one or more general-purpose processors and one or more digital signal processors (DSPs) for performing related operations to implement the technical solutions provided in the embodiments of the present application.

[0177] The memory 920 generally includes an internal memory and an external memory. The internal memory can be a random access memory (RAM), a read-only memory (ROM), and a cache (CACHE), etc. The external memory can be a hard disk, an optical disk, a USB disk, a floppy disk, or a tape drive, etc. The memory 920 is configured to store computer programs and other data. The computer programs include application programs corresponding to each client, etc. The other data can include data generated after the operating system or the application programs are run, which includes system data (for example, configuration parameters of the operating system) and user data. In the embodiments of the present application, program instructions are stored in the memory 920, and the processor 980 executes the program instructions in the memory 920 to implement any one of the methods discussed in the foregoing figures.

[0178] The display unit 940 is configured to receive input digital information, character information, or contact touch operation / non-contact gesture, and generate signal input related to user settings and function control of the electronic device 900, etc. Specifically, in the embodiments of the present application, the display unit 940 can include a display panel 941. The display panel 941, for example, a touch screen, can collect touch operations (such as operations of a user on or near the display panel 941 using a finger, a stylus, or any suitable object or accessory) of the user on or near the display panel 941 and drive the corresponding connection device according to a pre-set program.

[0179] In a possible implementation, the display panel 941 can include two parts of a touch detection device and a touch controller. The touch detection device detects the touch position of the player and detects the signal caused by the touch operation, and transmits the signal to the touch controller. The touch controller receives the touch information from the touch detection device, converts the touch information into touch coordinates, and sends the touch coordinates to the processor 980. The touch controller can also receive the command sent by the processor 980 and execute the command.

[0180] The display panel 941 can be implemented in various types such as resistance type, capacitance type, infrared type, and surface acoustic wave type. In addition to the display unit 940, the electronic device 900 can further include an input unit 930 in some embodiments. The input unit 930 can include an image input device 931 and other input devices 932. The other input devices can include, but are not limited to, one or more of a physical keyboard, a function key (such as a volume control key, an on-off key, etc.), a trackball, a mouse, a joystick, etc.

[0181] In addition to the above, the electronic device 900 can further include a power supply 990 for supplying power to other modules, an audio circuit 960, a near field communication module 970, and an RF circuit 910. The electronic device 900 can further include one or more sensors 950 such as an acceleration sensor, a light sensor, a pressure sensor, etc. The audio circuit 960 specifically includes a speaker 961 and a microphone 962, etc. For example, the electronic device 900 can collect the user's voice through the microphone 962, and perform corresponding operations, etc.

[0182] As an embodiment, the number of processors 980 can be one or more. The processor 980 and the memory 920 can be coupled or relatively independent.

[0183] As an embodiment, Figure 9 The processor 980 in the electronic device 900 can be configured to implement the functions of the acquisition module 801 and the processing module 802 in the electronic device 900. Figure 8

[0184] As an embodiment, Figure 9 The processor 980 in the electronic device 900 can be configured to implement the functions of the server or the terminal device corresponding to the functions discussed above.

[0185] ​Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware, and the foregoing program can be stored in a computer readable storage medium, and the program performs the steps of the above-mentioned method embodiments when executed; and the foregoing storage medium includes a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0186] Alternatively, the integrated unit of the present application can be stored in a computer readable storage medium if it is realized in the form of a software function module and sold or used as an independent product. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, for example, through a computer program product, which is stored in a storage medium and includes a plurality of instructions for causing an electronic device to execute all or part of the methods described in the embodiments of the present application. The foregoing storage medium includes a mobile storage device, a ROM, a RAM, a magnetic disk or an optical disk, and various media that can store program codes.

[0187] Those skilled in the art will appreciate that embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0188] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for correcting a preset bit, characterized in that, include: Acquire preset position images of multiple preset positions included in the cruise path, and acquire first extended images of first extended positions and second extended images of second extended positions associated with each of the multiple preset positions, wherein each first extended position is located before the corresponding preset position in the cruise path, and each second extended position is located after the corresponding preset position in the cruise path. When cruising along the cruise path, images are taken at the multiple preset positions and the first and second extended positions associated with each of the multiple preset positions to obtain the corresponding preset position cruise images, first cruise images and second cruise images. The obtained preset position cruise image is matched with the corresponding preset position image, the obtained first cruise image is matched with the corresponding first extended image, and the obtained second cruise image is matched with the second extended image to obtain the corresponding matching results. Based on the obtained matching results, the multiple preset positions and the first and second extended positions associated with each of the multiple preset positions are repaired.

2. The method according to claim 1, characterized in that, The cruise path has associated cruise shooting positions, which are the locations of cameras used for shooting. Therefore, acquiring the first extended image of the first extended position and the second extended image of the second extended position associated with each of the multiple preset positions includes: For the multiple preset bits, perform the following operations: Obtain a first extended position and a second extended position associated with a preset position, wherein the first extended position is at a first angle with the preset position and the cruise shooting position as the origin, and the second extended position is at a second angle with the preset position and the cruise shooting position as the origin; The first extended position and the second extended position are captured by shooting from the cruise shooting position to obtain a first extended image of the first extended position and a second extended image of the second extended position.

3. The method according to claim 1, characterized in that, The process of matching the obtained preset position cruise image with the corresponding preset position image, the obtained first cruise image with the corresponding first extended image, and the obtained second cruise image with the second extended image to obtain the corresponding matching results includes: For each of the multiple preset bits, perform the following operations respectively: When it is determined that the first cruise image corresponding to the current preset position does not match the corresponding first extended image, and the preset position cruise image corresponding to the current preset position matches the corresponding preset position image, the first matching result of the current preset position is obtained, wherein the first matching result indicates that the first extended position corresponding to the current preset position is abnormal; When it is determined that the first cruise image corresponding to the current preset position matches the corresponding first extended image, and the preset position cruise image corresponding to the current preset position matches the corresponding preset position image, a second matching result of the current preset position is obtained, wherein the second matching result indicates that there is no abnormality in the current preset position; The matching result of the next adjacent preset position is determined according to the cruise path.

4. The method according to claim 1, characterized in that, The process of matching the obtained preset position cruise image with the corresponding preset position image, the obtained first cruise image with the corresponding first extended image, and the obtained second cruise image with the second extended image to obtain the corresponding matching results includes: For each of the multiple preset bits, perform the following operations respectively: When it is determined that the first cruise image corresponding to the current preset position matches the corresponding first extended image, and the preset position cruise image corresponding to the current preset position does not match the corresponding preset position image, the preset position cruise image corresponding to the current preset position is adjusted based on the image adjustment strategy to obtain the preset position adjusted image. When the preset position adjustment image corresponding to the current preset position is determined to be mismatched with the corresponding preset position image, and the second cruise image corresponding to the current preset position is matched with the corresponding second extended image, a third matching result of the current preset position is obtained, wherein the third matching result indicates that the current preset position is abnormal.

5. The method according to claim 4, characterized in that, The preset position image is associated with multiple preset position feature points, which are used to characterize the positional features of the preset position image, and the multiple preset position feature points constitute a preset position geometry. When the preset position adjustment image corresponding to the current preset position does not match the corresponding preset position image, and the second cruise image corresponding to the current preset position matches the corresponding second extended image, a third matching result for the current preset position is obtained, including: Feature extraction is performed on the preset position adjustment image corresponding to the current preset position to obtain multiple cruise feature points, and cruise geometry is generated based on the multiple cruise feature points; When it is determined that the cruise geometry does not overlap with the corresponding preset position geometry, and the second cruise image corresponding to the current preset position matches the corresponding second extended image, a fourth matching result for the current preset position is obtained, wherein the fourth matching result indicates that the current preset position is abnormal, and the abnormality level is completely abnormal.

6. The method according to claim 5, characterized in that, After extracting features from the preset position adjustment image corresponding to the current preset position to obtain multiple cruise feature points, and generating cruise geometry based on the multiple cruise feature points, the method further includes: When it is determined that the cruise geometry does not completely overlap with the corresponding preset position geometry, the fifth matching result of the current preset position is obtained, wherein the fifth matching result indicates that the current preset position is abnormal and the abnormality level is partial abnormality.

7. The method according to claim 4, characterized in that, After adjusting the cruise image corresponding to the current preset position based on the image adjustment strategy to obtain the preset position adjusted image, the process also includes: When the preset position adjustment image corresponding to the current preset position does not match the corresponding preset position image, and the second cruise image corresponding to the current preset position does not match the corresponding second extended image, a sixth matching result for the current preset position is obtained, wherein the sixth matching result indicates that the current preset position is abnormal and the corresponding second extended position is abnormal.

8. The method according to any one of claims 4 to 7, characterized in that, The matching results include a first matching result, a third matching result, a fourth matching result, a fifth matching result, and a sixth matching result. The first matching result indicates a corresponding first extension bit anomaly, the third matching result indicates a corresponding preset bit anomaly, the fourth matching result indicates a corresponding preset bit anomaly with a complete anomaly level, the fifth matching result indicates a corresponding preset bit anomaly with a partial anomaly level, and the sixth matching result indicates a corresponding preset bit and second extension bit anomaly. The repair of the plurality of preset bits, and the first and second extended bits associated with each of the plurality of preset bits, based on the obtained matching results, includes: When the obtained matching result is determined to be the first matching result, the first extended image is updated based on the corresponding first cruise image; When the obtained matching result is determined to be one of the third matching result, the fourth matching result, or the fifth matching result, the preset position image is updated based on the corresponding preset position adjustment image. When the obtained matching result is determined to be the sixth matching result, the preset position image and the second extended image are updated based on the corresponding preset position adjustment image and the corresponding second cruise image, respectively.

9. A device for correcting a preset position, characterized in that, include: Acquisition module: used to acquire preset position images of multiple preset positions included in the cruise path, and to acquire first extended images of first extended positions and second extended images of second extended positions associated with each of the multiple preset positions, wherein each first extended position is located before the corresponding preset position in the cruise path, and each second extended position is located after the corresponding preset position in the cruise path; Processing module: used to take pictures at the multiple preset positions and the first extended position and the second extended position associated with each of the multiple preset positions when cruising according to the cruise path, so as to obtain the corresponding preset position cruise image, first cruise image and second cruise image. The processing module is further configured to: match the obtained preset position cruise image with the corresponding preset position image, the obtained first cruise image with the corresponding first extended image, and the obtained second cruise image with the second extended image, respectively, to obtain the corresponding matching results, and based on the obtained matching results, repair the plurality of preset positions, as well as the first extended position and the second extended position associated with each of the plurality of preset positions.

10. A monitoring system, characterized in that, The surveillance system includes camera equipment and a server, including: The shooting device is used to: capture preset position images of multiple preset positions included in the cruise path, and capture first extended images of first extended positions and second extended images of second extended positions associated with each of the multiple preset positions, wherein each first extended position is located before the corresponding preset position in the cruise path, and each second extended position is located after the corresponding preset position in the cruise path. The shooting device is also used to: when cruising according to the cruise path, take pictures at the plurality of preset positions and the first extended position and the second extended position associated with each of the plurality of preset positions, to obtain the corresponding preset position cruise image, the first cruise image and the second cruise image. The server is used to: match the preset cruise image obtained by the shooting device with the corresponding preset image, the first cruise image obtained with the corresponding first extended image, and the second cruise image obtained with the second extended image, respectively, to obtain the corresponding matching results, and based on the obtained matching results, to repair the plurality of preset positions, and the first extended position and the second extended position associated with each of the plurality of preset positions.

11. An electronic device, characterized in that, include: Memory, used to store program instructions; A processor is configured to invoke program instructions stored in the memory and execute the method as described in any one of claims 1 to 8 according to the obtained program instructions.

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