A positioning system, method, apparatus, positioning device, and storage medium

Abstract

This application provides a positioning system, method, apparatus, device, and storage medium, applicable to the field of target positioning technology. The positioning system includes: a positioning base station for acquiring geographical location information of at least one positioning tag; a target camera for acquiring a target image containing an object to be located and at least one positioning tag; a positioning module for identifying the identification features of at least one positioning tag in the target image; acquiring geographical location information matching the identified identification features from the geographical location information acquired by the positioning base station; and determining the geographical location information of the object to be located based on the acquired geographical location information and the relative position information of the object to be located and the positioning tag to which the identification features belong in the target image. This solution enables the positioning of objects that are not carrying specific devices.

Description

Technical Field

[0001] This application relates to the field of target positioning technology, and in particular to a positioning system, method, apparatus, positioning device and storage medium. Background Technology

[0002] Positioning technology is used to determine the location information of a target object in a specified scene, such as the location information of a vehicle in a parking lot, the location information of a shopper in a shopping mall, and the location information of a person in a square.

[0003] In related technologies, positioning technology often requires the target object to carry a specific device, such as a mobile phone, wristband, or radio frequency module, and then locate it through satellite signals, WiFi signals, Bluetooth signals, etc.

[0004] Because the relevant positioning technology relies on the specific device carried by the target object, it is impossible to effectively locate the target object when it is not carrying the specific device. Therefore, how to locate the target object when it is not carrying the specific device is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The purpose of this application is to provide a positioning system, method, apparatus, device, and storage medium to locate objects that are not carrying specific devices. The specific technical solution is as follows:

[0006] In a first aspect, embodiments of the present invention provide a positioning system, the positioning system comprising: a positioning module, a target camera, a positioning base station, and a plurality of positioning tags pre-deployed in space; the surface of the positioning tags has identification features;

[0007] The positioning base station is used to obtain the geographical location information of at least one positioning tag;

[0008] The target camera is used to acquire a target image containing the object to be located and the at least one positioning tag;

[0009] The positioning module is configured to: identify the identification features of the at least one positioning tag in the target image; obtain geographical location information matching the identified at least one identification feature from the geographical location information obtained from the positioning base station; and determine the geographical location information of the object to be positioned based on the obtained geographical location information and the relative position information of the object to be positioned and the positioning tag to which the at least one identification feature belongs in the target image.

[0010] Optionally, the positioning module obtains geographic location information matching at least one identified identifier feature from the geographic location information obtained from the positioning base station, including:

[0011] From the identified identifier features, determine at least one identifier feature to be utilized;

[0012] From the geographic location information obtained from the positioning base station, obtain geographic location information that matches the at least one identifier feature to be used.

[0013] Optionally, the positioning module determines at least one usable identifier feature from the identified identifier features, including:

[0014] The identified identifier features are used as the identifier features to be utilized; and / or,

[0015] From the identified identifier features, the identifier features whose corresponding positioning tags are image distances to the target object in the target image and which meet the specified distance conditions are selected as the identifier features to be used.

[0016] Optionally, the specified distance condition includes: minimum image distance, and / or image distance less than a specified distance threshold.

[0017] Optionally, the positioning module determines the geographic location information of the object to be located based on the acquired geographic location information and the relative position information of the object to be located and the positioning tag to which the at least one identification feature belongs in the target image, including:

[0018] For each of the at least one identification feature, the geographical location deviation between the object to be located and the location tag to which the identification feature belongs is determined, which is used as the relative position information of the object to be located and the location tag to which the identification feature belongs in the target image, and is used as the relative position information corresponding to the identification feature.

[0019] Based on the relative position information corresponding to the at least one identification feature and the obtained geographical location information, the geographical location information of the object to be located is determined.

[0020] Optionally, determining the geographic location information of the object to be located based on the relative location information corresponding to the at least one identifier feature and the acquired geographic location information includes:

[0021] For each identifier feature, the geographical location information of the location tag to which the identifier feature belongs is adjusted using the relative location information corresponding to that identifier feature, thus obtaining the adjusted geographical location information corresponding to that identifier feature.

[0022] The geographical location information of the object to be located is determined by using the adjusted geographical location information corresponding to each identifier feature.

[0023] Optionally, determining the geographic location information of the object to be located using the adjusted geographic location information corresponding to each identifier feature includes:

[0024] When at least one of the identification features is a single entity, the adjusted geographic location information corresponding to that identification feature is used as the geographic location information of the object to be located.

[0025] When there are multiple identification features, the average value of the adjusted geographic location information corresponding to each identification feature is determined as the geographic location information of the object to be located.

[0026] Optionally, each positioning tag is used to sequentially display identification features on the surface of the positioning tag according to a preset identification feature sequence for that positioning tag;

[0027] The positioning module identifies the identifying features of the at least one positioning tag in the target image, including:

[0028] The target image is identified to contain at least one identifying feature;

[0029] For each identified identifier feature, the identifier feature sequence that matches the identifier feature is determined from the identifier feature sequence corresponding to each location tag, and the location tag corresponding to the identifier feature sequence is taken as the location tag to which the identifier feature belongs.

[0030] Optionally, the positioning module determines an identifier feature sequence that matches the identifier feature from the identifier feature sequences corresponding to each positioning tag, including:

[0031] From the identifier feature sequences corresponding to each location tag, determine the identifier feature sequence containing the identifier feature, and use it as the identifier feature sequence that matches the identifier feature; and / or,

[0032] From the historically acquired identifier features, identify identifier features that match the image location of the identifier feature and use them as the same-location identifier features of the identifier feature; sort the identifier feature and the corresponding same-location identifier features according to the order of recognition time to obtain the identifier feature transformation sequence corresponding to the identifier feature; from the identifier feature sequences corresponding to each positioning tag, determine the identifier feature sequence that matches the change order of each identifier feature in the identifier feature transformation sequence and use it as the identifier feature sequence that matches the identifier feature.

[0033] Optionally, the positioning module is further configured to, after identifying that the target image contains at least one identifier feature, determine that the identifier feature is a pseudo identifier feature if, for any identified identifier feature, there is no identifier feature sequence matching the identifier feature from the identifier feature sequences corresponding to each positioning tag.

[0034] Optionally, the positioning system may further include a location server;

[0035] The location server is used to store the geographical location information of at least one location tag acquired by the positioning base station; when it receives a location query request carrying an identification feature sent by the device to be located, it determines the geographical location information of the location tag to which the identification feature in the location query request belongs from the stored geographical location information of the location tag; and responds to the location query request based on the determined geographical location information.

[0036] Secondly, embodiments of the present invention provide a positioning method, the method comprising:

[0037] Acquire a target image captured by a target camera, which includes the object to be located and at least one positioning tag, wherein the at least one positioning tag is a positioning tag among a plurality of positioning tags pre-deployed in space;

[0038] In the target image, identify the identifying features of the at least one positioning tag;

[0039] From the geographic location information obtained by the positioning base station for at least one of the plurality of positioning tags, obtain geographic location information that matches at least one identified feature;

[0040] Based on the acquired geographic location information and the relative position information of the object to be located and the location tag to which the at least one identification feature belongs in the target image, the geographic location information of the object to be located is determined.

[0041] Thirdly, embodiments of the present invention provide a positioning device, the device comprising:

[0042] An image acquisition module is used to acquire a target image captured by a target camera, which includes the object to be located and at least one positioning tag, wherein the at least one positioning tag is a positioning tag among a plurality of positioning tags pre-deployed in space;

[0043] A feature recognition module is used to identify the identification features of the at least one positioning tag in the target image;

[0044] The information acquisition module is used to acquire, from the geographic location information acquired by the positioning base station for at least one of the plurality of positioning tags, geographic location information that matches at least one identified feature;

[0045] The information determination module is used to determine the geographical location information of the object to be located based on the acquired geographical location information and the relative position information of the object to be located and the location tag to which the at least one identification feature belongs in the target image.

[0046] Fourthly, embodiments of the present invention provide a positioning device, including a camera, a positioning base station, a processor, and a machine-readable storage medium;

[0047] The positioning base station is used to obtain the geographical location information of at least one positioning tag;

[0048] The camera is used to acquire a target image containing the object to be located and the at least one positioning tag;

[0049] The machine-readable storage medium stores machine-executable instructions that can be executed by the processor, which is prompted by the machine-executable instructions to implement any of the methods described in the second aspect.

[0050] Fifthly, embodiments of the present invention provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, which, when executed by a processor, implements any of the methods described in the second aspect.

[0051] Beneficial effects of the embodiments in this application:

[0052] This application provides a positioning system, method, apparatus, device, and storage medium. The positioning system includes: a positioning module, a target camera, a positioning base station, and multiple positioning tags pre-deployed in space. The positioning tags have identification features on their surfaces. The positioning base station is used to acquire the geographical location information of at least one positioning tag. The target camera is used to capture a target image containing an object to be located and at least one positioning tag. The positioning module is used to identify the identification features of at least one positioning tag in the target image; acquire geographical location information matching the identified identification features from the geographical location information acquired by the positioning base station; and determine the geographical location information of the object to be located based on the acquired geographical location information and the relative position information of the object to be located and the positioning tag to which the identification features belong in the target image. Since the positioning module can determine the geographical location information of the object to be located based on the geographical location information of at least one positioning tag in the target image and the relative position information of the object to be located and the positioning tag to which the identification features belong in the target image after the target camera captures the target image containing the object to be located and at least one positioning tag, the object to be located can be located without the object carrying any specific positioning device.

[0053] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0055] Figure 1 This is a schematic diagram of the structure of a positioning system provided in an embodiment of this application;

[0056] Figure 2 This is a schematic diagram illustrating a location information determination method provided in an embodiment of this application.

[0057] Figure 3 This is a schematic diagram of the structure of a positioning system provided in an embodiment of this application;

[0058] Figure 4 This is a schematic diagram illustrating another location information determination method provided in an embodiment of this application.

[0059] Figure 5 A flowchart illustrating a positioning method provided in an embodiment of this application;

[0060] Figure 6 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application;

[0061] Figure 7 This is a schematic diagram of the positioning device provided in an embodiment of this application. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0063] To locate objects that are not carrying specific devices, embodiments of this application provide a positioning system, method, apparatus, positioning device, and storage medium.

[0064] It should be noted that, in specific applications, the positioning method provided in this application embodiment can be applied to various electronic devices, such as personal computers, servers, mobile phones, and other devices with data processing capabilities. Furthermore, the positioning method provided in this application embodiment can be implemented through software, hardware, or a combination of both.

[0065] In one embodiment, the present application can be applied to a positioning device, which can be a device that integrates a camera and a positioning base station. The specific details will be described in detail in subsequent embodiments and will not be repeated here.

[0066] The positioning system provided in this application embodiment may include: a positioning module, a target camera, a positioning base station, and multiple positioning tags pre-deployed in space; the surface of the positioning tags has identification features;

[0067] The positioning base station is used to obtain the geographical location information of at least one positioning tag;

[0068] The target camera is used to acquire a target image containing the object to be located and the at least one positioning tag;

[0069] The positioning module is configured to: identify the identification features of the at least one positioning tag in the target image; obtain geographical location information matching the identified at least one identification feature from the geographical location information obtained from the positioning base station; and determine the geographical location information of the object to be positioned based on the obtained geographical location information and the relative position information of the object to be positioned and the positioning tag to which the at least one identification feature belongs in the target image.

[0070] In the above-described scheme of this application embodiment, after the target camera captures a target image containing the object to be located and at least one positioning tag, the positioning module can determine the geographical location information of the object to be located based on the geographical location information of at least one positioning tag in the target image and the relative position information of the object to be located and the positioning tag to which at least one identification feature belongs in the target image. The positioning of the object to be located can be achieved without the object to be located carrying any specific positioning device.

[0071] The positioning system provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0072] like Figure 1 As shown, this application embodiment provides a positioning system, which includes: a positioning module 101, a target camera 102, a positioning base station 103, and a plurality of positioning tags 104 pre-deployed in space; the positioning tags 104 have identification features on their surfaces;

[0073] The positioning base station 103 is used to obtain the geographical location information of at least one positioning tag 104;

[0074] The target camera 102 is used to acquire a target image containing the object to be located and the at least one positioning tag 104;

[0075] The positioning module 101 is used to identify the identification features of the at least one positioning tag 104 in the target image; obtain geographical location information matching the identified at least one identification feature from the geographical location information obtained from the positioning base station; and determine the geographical location information of the object to be positioned based on the obtained geographical location information and the relative position information of the object to be positioned and the positioning tag 104 to which the at least one identification feature belongs in the target image.

[0076] The positioning module 101 can be an independent electronic device with data processing capabilities, such as a personal computer, server, mobile phone, or other devices with data processing capabilities. Alternatively, the positioning module 101 can be a processing unit in the target camera 102, which can be implemented through software, hardware, or a combination of both, such as positioning processing software in the target camera.

[0077] The aforementioned positioning base station 103 can be an electronic device used to obtain the geographic location information of the positioning tag 104. The geographic location information can be the location information of the positioning tag 104 in a world coordinate system. This world coordinate system can be a latitude and longitude coordinate system or a spatial coordinate system in a certain space, such as a spatial coordinate system constructed for indoor places such as supermarkets, underground parking garages, and shopping malls.

[0078] The aforementioned positioning base station 103 can acquire the location information of the positioning tag 104 in real time by sending radio frequency signals to the positioning tag. Simply put, the positioning base station 103 contains at least one radio frequency module. When it is necessary to determine the location information of the positioning tag 104, the at least one radio frequency module in the positioning base station 103 can send a radio frequency signal. At this time, the positioning base station 103 records the transmission time of the radio frequency signal. After any positioning tag in space receives the radio frequency signal, it can transmit the received radio frequency signal back to the positioning base station 103. At this time, the positioning base station records the reception time of the received reflected radio frequency signal. Then, using the transmission time and reception time of the radio frequency signal, the flight time of the radio frequency signal is determined, and the flight time is used to determine the relative position between the at least one radio frequency module and the positioning tag 104. Finally, using the geographical location information of the positioning base station 103 in the world coordinate system (which is known in advance as prior knowledge) and the relative position between the at least one radio frequency module and the positioning tag 104, the geographical location information of the positioning tag 104 is calculated. To ensure the positioning accuracy of the positioning base station 103, multiple radio frequency (RF) modules can exist in the positioning base station 103, with each RF module having a fixed relative position. The geographical location information of the positioning base station 103 can include the geographical location information of each RF module. Alternatively, if the positioning base station 103 contains only a single RF module, multiple positioning base stations 103 can exist. By combining the relative positions of each positioning base station 103 and the positioning tags 104, the geographical location information of the positioning tags 104 can be accurately determined. In one implementation, the positioning base station 103 can include a UWB (Ultra Wide Band) base station, and correspondingly, the positioning tag 104 can be a UWB tag.

[0079] The aforementioned positioning tag can be a tag with identification features on its surface. These features can be a specified image texture, such as a QR code or a special pattern. The label features can be fixed or changeable. For example, each positioning tag 104 can sequentially display identification features on its surface according to a preset sequence of identification features. This sequence can contain multiple identification features, each with a different image texture. In one implementation, to allow the positioning tag 104 to have its surface identification features changed, the positioning tag 104 can include a display. The surface features of the positioning tag can be the image texture displayed on the display of the positioning tag 104.

[0080] To locate an object without relying on a positioning device, multiple positioning tags 104 can be deployed in space. The positioning base station 103 can acquire the geographical location information of the positioning tags 104 in real time, while the target camera can capture images of the deployment space. When the object to be located enters the deployment space, since multiple positioning tags 104 are pre-deployed in the deployment space, the target camera can capture a target image that simultaneously contains the object to be located and at least one positioning tag 104.

[0081] like Figure 2 As shown in the diagram, this application embodiment provides a location information determination schematic. The camera in the diagram is the target camera mentioned in this application embodiment, the UWB base station is a positioning base station, the UWB tag is a positioning tag, and the positioning module mentioned in this application embodiment is the target camera, i.e., the camera in the image. The UWB base station can locate the UWB tag and determine its geographical location information. When a designated object, such as a person, enters the camera's coverage area, the camera can simultaneously capture a target image containing both the person and the UWB tag, and then determine the person's location information based on the image offset of the UWB tag and the person in the target image.

[0082] After the target camera acquires a target image containing the object to be located and the at least one positioning tag 104, the positioning module 101 can identify the identification features of the at least one positioning tag 104 in the target image, and then obtain geographical location information matching the identified at least one identification feature from the geographical location information obtained from the positioning base station, and determine the geographical location information of the object to be located based on the obtained geographical location information and the relative position information of the object to be located and the positioning tag 104 to which the at least one identification feature belongs in the target image.

[0083] In one implementation, when the identification feature on the surface of the positioning tag 104 is a QR code, the positioning module can identify the identification feature of the at least one positioning tag 104 in the target image by recognizing the QR code. Alternatively, when the identification feature on the surface of the positioning tag 104 is a specific image texture, the positioning module can perform texture recognition on the target image to determine at least one specific image texture contained in the target image. There are many texture recognition methods, such as recognition through a neural network model.

[0084] When each positioning tag can sequentially display the identification features on the surface of the positioning tag according to the preset identification feature sequence for the positioning tag, the positioning module can first identify that the target image contains at least one identification feature, and then, for each identified identification feature, determine the identification feature sequence that matches the identification feature from the identification feature sequence corresponding to each positioning tag, and take the positioning tag corresponding to the identification feature sequence as the positioning tag to which the identification feature belongs.

[0085] Optionally, in one implementation, the positioning module can determine the identification feature sequence containing the identification feature from the identification feature sequence corresponding to each positioning tag, and use it as the identification feature sequence that matches the identification feature.

[0086] In another implementation, the positioning module can obtain the identifier features that match the image location of the identifier feature from the historically acquired identifier features, and use them as the same-location identifier features of the identifier feature; sort the identifier feature and the corresponding same-location identifier features according to the order of recognition time to obtain the identifier feature transformation sequence corresponding to the identifier feature; determine the identifier feature sequence that matches the change order of each identifier feature in the identifier feature transformation sequence from the identifier feature sequences corresponding to each positioning tag, and use it as the identifier feature sequence that matches the identifier feature.

[0087] In simple terms, the marking features on the surface of the positioning tag can change periodically or randomly, thereby reducing the probability of the marking features being forged or interfered with. Optionally, the positioning tag can establish encrypted wireless communication with the positioning base station and the target camera, and announce the marking feature sequence of the marking features on the surface of the positioning tag. Then, for each target image, the marking features contained in the target image can be identified, and the marking features in each image can be sorted according to the image acquisition time to obtain the marking feature transformation sequence. If the marking feature transformation sequence satisfies the marking feature sequence, the marking feature can be considered valid.

[0088] Optionally, to reduce the number of invalid calculations and save computing resources, the positioning module 101 may, after identifying that the target image contains at least one identifier feature, determine that any identified identifier feature is a fake identifier feature if no matching identifier feature sequence exists in the identifier feature sequence corresponding to each positioning tag 104. In simpler terms, if any identified identifier feature is determined to be invalid, it can be marked as a forged or interfering feature.

[0089] After identifying at least one identifying feature contained in the target image, the positioning module 101 needs to obtain geographical location information matching the identified at least one identifying feature from the geographical location information obtained by the positioning base station. In one implementation, to reduce computational load, after identifying at least one identifying feature, a suitable identifying feature to be used can be determined from the at least one identifying feature. For example, the identifying feature closest to the object to be located can be used as the identifying feature to be used, and then only the geographical location information matching the identifying feature to be used needs to be obtained. Optionally, the positioning module 101 can determine at least one identifying feature to be used from the identified identifying features, and then obtain the geographical location information matching the at least one identifying feature to be used from the geographical location information obtained by the positioning base station.

[0090] Optionally, the positioning module 101 may use all identified identifier features as identifier features to be utilized; and / or, to improve positioning accuracy, the positioning module 101 may filter from the identified identifier features the image distance between the corresponding positioning tag 104 and the object to be located in the target image, and the identifier features that meet the specified distance conditions shall be used as identifier features to be utilized. The specified distance conditions include: minimum image distance, and / or image distance less than a specified distance threshold. The specified distance threshold may be determined according to requirements and experience. Optionally, to improve the efficiency of determining identifier features that meet the specified distance conditions, the image distance between the corresponding positioning tag 104 and the object to be located in the target image may be roughly estimated by the size ratio of the identifier feature in the target image.

[0091] After acquiring geographic location information that matches at least one identified feature, the positioning module 101 can determine the geographic location information of the object to be located in the target image based on the acquired geographic location information and the relative position information of the object to be located and the positioning tag 104 to which the at least one identified feature belongs.

[0092] Optionally, in one implementation, the positioning module 101 can determine the geographical location deviation between the object to be located and the positioning tag 104 to which the identification feature belongs for each of the at least one identification feature, and use this deviation as relative position information of the object to be located and the positioning tag 104 to which the identification feature belongs in the target image, and use this relative position information corresponding to the identification feature, and then determine the geographical location information of the object to be located based on the relative position information corresponding to the at least one identification feature and the obtained geographical location information.

[0093] The aforementioned geographical location deviation can be the pixel spacing and pixel angle between the object to be located and the positioning tag 104, and the pixel angle can be at least one of a horizontal angle and a vertical angle. Alternatively, the aforementioned geographical location deviation can also be the lateral deviation and longitudinal deviation between the object to be located and the positioning tag.

[0094] In one implementation, the first location information of the object to be located and the second location information of the positioning tag in the target image can be identified first. Then, based on the first and second location information, the geographical location deviation between the object to be located and the positioning tag 104 to which the identification feature belongs can be determined as the relative location information between the positioning tag and the object to be located.

[0095] The first location information mentioned above can be the pixel coordinates of the center point pixel of the recognition box corresponding to the object to be located in the target image. Similarly, the second location information mentioned above can be the pixel coordinates of the center point pixel of the recognition box corresponding to the positioning label in the target image. Specifically, an object recognition algorithm or a pre-trained object recognition model can be used to process the target image to obtain the first location information of the label to be located and the second location information of the positioning label in the target image. Optionally, the first location information may include a first horizontal coordinate and a first vertical coordinate, such as (X1, Y1), and the second location information may include a second horizontal coordinate and a second vertical coordinate, such as (X2, Y2).

[0096] After obtaining the first location information and the second location information, the geographical location deviation between the object to be located and the location tag 104 to which the identification feature belongs can be determined based on the first location information and the second location information, and used as the relative location information between the location tag and the object to be located.

[0097] In one implementation, the difference between the first horizontal coordinate and the second horizontal coordinate can be calculated as the horizontal deviation, and then the difference between the first vertical coordinate and the second vertical coordinate can be calculated as the vertical deviation. Finally, the horizontal deviation and the vertical deviation are used as the geographical location deviation between the object to be located and the location tag 104 to which the identification feature belongs.

[0098] In another implementation, the pixel spacing and pixel angle can be calculated based on the first location information and the second location information, and then the pixel spacing and pixel angle can be used as the geographical location deviation between the object to be located and the location tag 104 to which the identification feature belongs.

[0099] After determining the relative position information corresponding to each identifier feature, the positioning module can also determine the geographical location information of the object to be located based on the relative position information corresponding to the at least one identifier feature and the acquired geographical location information.

[0100] Optionally, for each identification feature, the geographical location information of the positioning tag 104 to which the identification feature belongs can be adjusted using the relative position information corresponding to the identification feature to obtain the adjusted geographical location information corresponding to the identification feature. Then, the geographical location information of the object to be located can be determined using the adjusted geographical location information corresponding to each identification feature.

[0101] Specifically, for each identification feature, the geographical location information of the positioning tag 104 to which the identification feature belongs is adjusted using the relative position information corresponding to that identification feature, resulting in the adjusted geographical location information corresponding to that identification feature. This adjusted geographical location information is then adjusted by multiplying the relative position information corresponding to the identification feature by the scaling factor of the target camera. The scaling factor is the ratio of the actual area of ​​the positioning tag to the image area of ​​the positioning tag in the target image. In this case, the ratio of the actual area of ​​the positioning tag to the image area of ​​the positioning tag in the target image can be determined as the scaling factor of the target camera, and then the product of the relative position information and the scaling factor of the target camera can be calculated. Optionally, if the relative position information includes lateral and longitudinal deviations, the product of the lateral deviation and the scaling factor, and the product of the longitudinal deviation and the scaling factor, can be calculated separately. In this case, the adjusted geographic location information can be (X+a, Y+b), where (X, Y) is the geographic location information of the positioning tag, a is the product of the lateral deviation and the scaling factor, and b is the product of the longitudinal deviation and the scaling factor.

[0102] After determining the adjusted geographic location information corresponding to each identifier feature, if there is only one identifier feature, the positioning module can use the adjusted geographic location information corresponding to that identifier feature as the geographic location information of the object to be located. Alternatively, if there are multiple identifier features, the positioning module can determine the average of the adjusted geographic location information corresponding to each identifier feature as the geographic location information of the object to be located.

[0103] In the above-described scheme of this application embodiment, after the target camera captures a target image containing the object to be located and at least one positioning tag, the positioning module can determine the geographical location information of the object to be located based on the geographical location information of at least one positioning tag in the target image and the relative position information of the object to be located and the positioning tag to which at least one identification feature belongs in the target image. The positioning of the object to be located can be achieved without the object to be located carrying any specific positioning device.

[0104] like Figure 3 As shown in the figure, this application embodiment also provides a positioning system, characterized in that the positioning system further includes a location server 105;

[0105] The location server 105 is used to store the geographical location information of at least one location tag 104 obtained by the location base station; when it receives a location query request carrying an identification feature sent by the device to be located, it determines the geographical location information of the location tag 104 to which the identification feature in the location query request belongs from the stored geographical location information of the location tag 104; and responds to the location query request based on the determined geographical location information.

[0106] For example, such as Figure 4 As shown, this embodiment of the invention provides a positioning flowchart for a positioning system. Camera A in the diagram represents the target camera mentioned in this embodiment. The location server can obtain and store the tag ID (Identity Document) and the tag coordinates corresponding to the tag ID from the UWB base station. Multiple UWB tags are deployed at different locations within the site, such as... Figure 4 The image shows UWB tags 1, 2, 3, and 4. Each UWB tag has a surface identifier that can be a specified pattern containing a QR code. The QR code contains the tag ID of that UWB tag. The location server stores all tag IDs transmitted by the UWB base station and their corresponding tag coordinates. Personnel can obtain tag IDs by scanning the QR codes on the surfaces of nearby UWB tags using a handheld device. The handheld device uploads the tag IDs to the location server via a wireless network, and the location server returns the tag coordinates corresponding to the tag IDs, thus allowing the person to determine their location.

[0107] Corresponding to the positioning system provided in the above embodiments of this application, such as Figure 5 As shown in the embodiments of this application, a positioning method is also provided, the method comprising:

[0108] S501, acquire a target image captured by the target camera, which includes the object to be located and at least one positioning tag, wherein the at least one positioning tag is a positioning tag among a plurality of positioning tags pre-deployed in space;

[0109] S502, in the target image, identify the identification features of the at least one positioning tag;

[0110] S503, obtain geographical location information that matches at least one identified feature from the geographical location information obtained by the positioning base station for at least one of the plurality of positioning tags;

[0111] S504, based on the acquired geographic location information and the relative position information of the object to be located and the location tag to which the at least one identification feature belongs in the target image, determine the geographic location information of the object to be located.

[0112] Optionally, obtaining the geographic location information matching the identified at least one identifier feature from the geographic location information obtained by the positioning base station for at least one of the plurality of positioning tags includes:

[0113] From the identified identifier features, determine at least one identifier feature to be utilized;

[0114] From the geographic location information obtained by the positioning base station for at least one of the plurality of positioning tags, obtain geographic location information that matches the at least one identifier feature to be used.

[0115] Optionally, determining at least one identifier feature to be used from the identified identifier features includes:

[0116] The identified identifier features are used as the identifier features to be utilized; and / or,

[0117] From the identified identifier features, the identifier features whose corresponding positioning tags are image distances to the target object in the target image and which meet the specified distance conditions are selected as the identifier features to be used.

[0118] Optionally, the specified distance condition includes: minimum image distance, and / or image distance less than a specified distance threshold.

[0119] Optionally, determining the geographic location information of the object to be located based on the acquired geographic location information and the relative position information of the object to be located and the location tag to which the at least one identification feature belongs in the target image includes:

[0120] For each of the at least one identification feature, the geographical location deviation between the object to be located and the location tag to which the identification feature belongs is determined, which is used as the relative position information of the object to be located and the location tag to which the identification feature belongs in the target image, and is used as the relative position information corresponding to the identification feature.

[0121] Based on the relative position information corresponding to the at least one identification feature and the obtained geographical location information, the geographical location information of the object to be located is determined.

[0122] Optionally, determining the geographic location information of the object to be located based on the relative location information corresponding to the at least one identifier feature and the acquired geographic location information includes:

[0123] For each identifier feature, the geographical location information of the location tag to which the identifier feature belongs is adjusted using the relative location information corresponding to that identifier feature, thus obtaining the adjusted geographical location information corresponding to that identifier feature.

[0124] The geographical location information of the object to be located is determined by using the adjusted geographical location information corresponding to each identifier feature.

[0125] Optionally, determining the geographic location information of the object to be located using the adjusted geographic location information corresponding to each identifier feature includes:

[0126] When at least one of the identification features is a single entity, the adjusted geographic location information corresponding to that identification feature is used as the geographic location information of the object to be located.

[0127] When there are multiple identification features, the average value of the adjusted geographic location information corresponding to each identification feature is determined as the geographic location information of the object to be located.

[0128] Optionally, the marking features on the surface of each positioning tag are displayed sequentially according to a preset sequence of marking features for that positioning tag;

[0129] The process of identifying the identifying features of the at least one location tag in the target image includes:

[0130] The target image is identified to contain at least one identifying feature;

[0131] For each identified identifier feature, the identifier feature sequence that matches the identifier feature is determined from the identifier feature sequence corresponding to each location tag, and the location tag corresponding to the identifier feature sequence is taken as the location tag to which the identifier feature belongs.

[0132] Optionally, determining the identifier feature sequence that matches the identifier feature from the identifier feature sequences corresponding to each positioning tag includes:

[0133] From the identifier feature sequences corresponding to each location tag, determine the identifier feature sequence containing the identifier feature, and use it as the identifier feature sequence that matches the identifier feature; and / or,

[0134] From the historically acquired identifier features, identify identifier features that match the image location of the identifier feature and use them as the same-location identifier features of the identifier feature; sort the identifier feature and the corresponding same-location identifier features according to the order of recognition time to obtain the identifier feature transformation sequence corresponding to the identifier feature; from the identifier feature sequences corresponding to each positioning tag, determine the identifier feature sequence that matches the change order of each identifier feature in the identifier feature transformation sequence and use it as the identifier feature sequence that matches the identifier feature.

[0135] Optionally, after identifying that the target image contains at least one identifier feature, the method further includes: for any identified identifier feature, if there is no identifier feature sequence matching the identifier feature from the identifier feature sequences corresponding to each positioning tag, then the identifier feature is determined to be a pseudo identifier feature.

[0136] In the above-described scheme of this application embodiment, after the target camera captures a target image containing the object to be located and at least one positioning tag, the positioning module can determine the geographical location information of the object to be located based on the geographical location information of at least one positioning tag in the target image and the relative position information of the object to be located and the positioning tag to which at least one identification feature belongs in the target image. The positioning of the object to be located can be achieved without the object to be located carrying any specific positioning device.

[0137] Corresponding to the positioning method provided in the above embodiments of this application, such as Figure 6 As shown in the figure, this application embodiment also provides a positioning device, the device comprising:

[0138] Image acquisition module 601 is used to acquire a target image captured by a target camera, which includes the object to be located and at least one positioning tag, wherein the at least one positioning tag is a positioning tag among a plurality of positioning tags pre-deployed in space;

[0139] The feature recognition module 602 is used to recognize the identification features of the at least one positioning tag in the target image;

[0140] The information acquisition module 603 is used to acquire, from the geographic location information acquired by the positioning base station for at least one of the plurality of positioning tags, geographic location information that matches at least one identified feature;

[0141] The information determination module 604 is used to determine the geographical location information of the object to be located based on the acquired geographical location information and the relative position information of the object to be located and the location tag to which the at least one identification feature belongs in the target image.

[0142] Optionally, the information acquisition module is specifically used to determine at least one identifier feature to be used from the identified identifier features; and to obtain geographical location information that matches the at least one identifier feature to be used from the geographical location information obtained by the positioning base station for at least one of the plurality of positioning tags.

[0143] Optionally, the information acquisition module is specifically used to use the identified identification features as identification features to be utilized; and / or, from the identified identification features, to filter out identification features whose image distance between the corresponding positioning tag and the object to be located in the target image meets the specified distance condition, and use them as identification features to be utilized.

[0144] Optionally, the specified distance condition includes: minimum image distance, and / or image distance less than a specified distance threshold.

[0145] Optionally, the information determination module is specifically used to determine, for each of the at least one identification feature, the geographical location deviation between the object to be located and the location tag to which the identification feature belongs, as the relative position information of the object to be located and the location tag to which the identification feature belongs in the target image, and as the relative position information corresponding to the identification feature; and to determine the geographical location information of the object to be located based on the relative position information corresponding to the at least one identification feature and the obtained geographical location information.

[0146] Optionally, the information determination module is specifically used to adjust the geographic location information of the positioning tag to which the identification feature belongs using the relative location information corresponding to the identification feature for each identification feature, so as to obtain the adjusted geographic location information corresponding to the identification feature, and to determine the geographic location information of the object to be located using the adjusted geographic location information corresponding to each identification feature.

[0147] Optionally, the information determination module is specifically used to, when the at least one identification feature is a single feature, use the adjusted geographical location information corresponding to the identification feature as the geographical location information of the object to be located; and when the at least one identification feature is multiple features, determine the average value of the adjusted geographical location information corresponding to each identification feature as the geographical location information of the object to be located.

[0148] Optionally, the marking features on the surface of each positioning tag are displayed sequentially according to a preset sequence of marking features for that positioning tag;

[0149] The feature recognition module is specifically used to identify that the target image contains at least one identification feature; for each identified identification feature, it determines the identification feature sequence that matches the identification feature from the identification feature sequence corresponding to each positioning tag, and takes the positioning tag corresponding to the identification feature sequence as the positioning tag to which the identification feature belongs.

[0150] Optionally, the feature recognition module is specifically configured to: determine, from the identification feature sequences corresponding to each positioning tag, an identification feature sequence containing the identification feature, as an identification feature sequence matching the identification feature; and / or, from historically acquired identification features, obtain identification features matching the image position of the identification feature, as co-positional identification features of the identification feature; sort the identification feature and the co-positional identification features corresponding to the identification feature according to the order of recognition time to obtain the identification feature transformation sequence corresponding to the identification feature; and determine, from the identification feature sequences corresponding to each positioning tag, an identification feature sequence matching the change order of each identification feature in the identification feature transformation sequence, as an identification feature sequence matching the identification feature.

[0151] Optionally, the feature recognition module is further configured to, after recognizing that the target image contains at least one identifier feature, determine that the identifier feature is a pseudo identifier feature if, for any recognized identifier feature, there is no identifier feature sequence matching the identifier feature from the identifier feature sequences corresponding to each positioning tag.

[0152] In the above-described scheme of this application embodiment, after the target camera captures a target image containing the object to be located and at least one positioning tag, the positioning module can determine the geographical location information of the object to be located based on the geographical location information of at least one positioning tag in the target image and the relative position information of the object to be located and the positioning tag to which at least one identification feature belongs in the target image. The positioning of the object to be located can be achieved without the object to be located carrying any specific positioning device.

[0153] In the technical solution of this application, the operations of acquiring, storing, using, processing, transmitting, providing and disclosing the information of the object to be located are all carried out under the condition that the authorization of the object to be located has been obtained.

[0154] This application also provides a positioning device, such as... Figure 7 As shown, it includes a camera 701, a positioning base station 702, a processor 703, and a machine-readable storage medium 704;

[0155] The positioning base station 702 is used to obtain the geographical location information of at least one positioning tag;

[0156] The camera 701 is used to acquire a target image containing the object to be located and the at least one positioning tag;

[0157] The machine-readable storage medium 704 stores machine-executable instructions that can be executed by the processor 703, which in turn cause the processor 703 to:

[0158] Acquire a target image captured by a target camera, which includes the object to be located and at least one positioning tag, wherein the at least one positioning tag is a positioning tag among a plurality of positioning tags pre-deployed in space;

[0159] In the target image, identify the identifying features of the at least one positioning tag;

[0160] From the geographic location information obtained by the positioning base station for at least one of the plurality of positioning tags, obtain geographic location information that matches at least one identified feature;

[0161] Based on the acquired geographic location information and the relative position information of the object to be located and the location tag to which the at least one identification feature belongs in the target image, the geographic location information of the object to be located is determined.

[0162] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0163] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described positioning methods.

[0164] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform any of the positioning methods described above.

[0165] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), etc.

[0166] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0167] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, positioning devices, computer-readable storage media, and computer program products are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0168] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A positioning system, characterized in that, The positioning system includes: a positioning module, a target camera, a positioning base station, and multiple positioning tags pre-deployed in space; the surface of each positioning tag has identification features, and each positioning tag is used to sequentially display identification features on the surface of the positioning tag according to a preset sequence of identification features for that positioning tag; The positioning base station is used to obtain the geographical location information of at least one positioning tag; The target camera is used to acquire a target image containing the object to be located and the at least one positioning tag; The positioning module is configured to: identify at least one identifier feature in the target image; for each identified identifier feature, determine an identifier feature sequence matching the identifier feature from the identifier feature sequences corresponding to each positioning tag, and designate the positioning tag corresponding to the identifier feature sequence as the positioning tag to which the identifier feature belongs; after identifying at least one identifier feature in the target image, if for any identified identifier feature, there is no identifier feature sequence matching the identifier feature from the identifier feature sequences corresponding to each positioning tag, then the identifier feature is determined to be a false identifier feature; obtain geographical location information matching the identified at least one identifier feature from the geographical location information obtained by the positioning base station; and for the at least one identifier feature... For each identifier feature, the geographical location deviation between the object to be located and the positioning tag to which the identifier feature belongs is determined, and this deviation is used as the relative position information of the object to be located and the positioning tag to which the identifier feature belongs in the target image, serving as the relative position information corresponding to the identifier feature. For each identifier feature, the geographical location information of the positioning tag to which the identifier feature belongs is adjusted by multiplying the relative position information corresponding to the identifier feature by the scaling factor of the target camera, resulting in the adjusted geographical location information corresponding to the identifier feature. The scaling factor is the ratio of the actual area of ​​the positioning tag to the image area of ​​the positioning tag in the target image. The geographical location information of the object to be located is determined using the adjusted geographical location information corresponding to each identifier feature.

2. The positioning system according to claim 1, characterized in that, The positioning module obtains geographic location information matching at least one identified feature from the geographic location information obtained from the positioning base station, including: From the identified identifier features, determine at least one identifier feature to be utilized; From the geographic location information obtained from the positioning base station, obtain geographic location information that matches the at least one identifier feature to be used.

3. The positioning system according to claim 2, characterized in that, The positioning module determines at least one usable identifier feature from the identified identifier features, including: The identified identifier features are used as the identifier features to be utilized; and / or, From the identified identifier features, the identifier features whose corresponding positioning tags are image distances to the target object in the target image and which meet the specified distance conditions are selected as the identifier features to be used.

4. The positioning system according to claim 3, characterized in that, The specified distance conditions include: minimum image distance, and / or image distance less than a specified distance threshold.

5. The positioning system according to claim 1, characterized in that, The step of determining the geographic location information of the object to be located using the adjusted geographic location information corresponding to each identifier feature includes: When at least one of the identification features is a single entity, the adjusted geographic location information corresponding to that identification feature is used as the geographic location information of the object to be located. When there are multiple identification features, the average value of the adjusted geographic location information corresponding to each identification feature is determined as the geographic location information of the object to be located.

6. The positioning system according to claim 1, characterized in that, The positioning module determines the identifier feature sequence that matches the identifier feature from the identifier feature sequence corresponding to each positioning tag, including: From the identifier feature sequences corresponding to each location tag, determine the identifier feature sequence containing the identifier feature, and use it as the identifier feature sequence that matches the identifier feature; and / or, From the historically acquired identifier features, identify identifier features that match the image location of the identifier feature and use them as the same-location identifier features of the identifier feature; sort the identifier feature and the corresponding same-location identifier features according to the order of recognition time to obtain the identifier feature transformation sequence corresponding to the identifier feature; from the identifier feature sequences corresponding to each positioning tag, determine the identifier feature sequence that matches the change order of each identifier feature in the identifier feature transformation sequence and use it as the identifier feature sequence that matches the identifier feature.

7. The positioning system according to claim 1, characterized in that, The positioning system also includes a location server; The location server is used to store the geographical location information of at least one location tag acquired by the positioning base station; when it receives a location query request carrying an identification feature sent by the device to be located, it determines the geographical location information of the location tag to which the identification feature in the location query request belongs from the stored geographical location information of the location tag; and responds to the location query request based on the determined geographical location information.

8. A positioning method, characterized in that, The method includes: Acquire a target image captured by a target camera, which includes the object to be located and at least one positioning tag, wherein the at least one positioning tag is a positioning tag among a plurality of positioning tags pre-deployed in space; In the target image, identify the identifying features of the at least one positioning tag; From the geographic location information obtained by the positioning base station for at least one of the plurality of positioning tags, obtain geographic location information that matches at least one identified feature; When a location query request carrying an identification feature is received from a device to be located, the location information of the location tag to which the identification feature in the location query request belongs is determined from the location information of the location tag obtained from the location base station stored in the location server; based on the determined location information, the location query request is responded to.

9. A positioning device, characterized in that, The device includes: The image acquisition module is used to acquire a target image captured by the target camera, which includes the object to be located and at least one positioning tag. The at least one positioning tag is a positioning tag among a plurality of positioning tags pre-deployed in space. Each positioning tag is used to sequentially display identification features on the surface of the positioning tag according to a preset identification feature sequence for that positioning tag. The feature recognition module is configured to: identify at least one identifier feature in the target image; for each identified identifier feature, determine a matching identifier feature sequence from the identifier feature sequences corresponding to each positioning tag, and take the positioning tag corresponding to the identifier feature sequence as the positioning tag to which the identifier feature belongs; after identifying at least one identifier feature in the target image, if for any identified identifier feature, there is no matching identifier feature sequence from the identifier feature sequences corresponding to each positioning tag, then the identifier feature is determined to be a false identifier feature; The information acquisition module is used to acquire, from the geographic location information acquired by the positioning base station for at least one of the plurality of positioning tags, geographic location information that matches at least one identified feature; The information determination module is used to determine, for each of the at least one identification features, the geographical location deviation between the object to be located and the positioning tag to which the identification feature belongs, as the relative position information of the object to be located and the positioning tag to which the identification feature belongs in the target image, and as the relative position information corresponding to the identification feature; for each identification feature, the geographical location information of the positioning tag to which the identification feature belongs is adjusted by multiplying the relative position information corresponding to the identification feature by the scaling factor of the target camera, to obtain the adjusted geographical location information corresponding to the identification feature, wherein the scaling factor is the ratio of the actual area of ​​the positioning tag to the image area of ​​the positioning tag in the target image; and the geographical location information of the object to be located is determined using the adjusted geographical location information corresponding to each identification feature.

10. A positioning device, characterized in that, Includes cameras, positioning base stations, processors, and machine-readable storage media; The positioning base station is used to obtain the geographical location information of at least one positioning tag; The camera is used to acquire a target image containing the object to be located and the at least one positioning tag; The machine-readable storage medium stores machine-executable instructions that can be executed by the processor, which is prompted by the machine-executable instructions to implement the method of claim 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of claim 8.

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