Target positioning methods, devices, equipment, storage media and program products

Abstract

This application provides a target positioning method, apparatus, device, storage medium, and program product, applied to a smart terminal. The method includes: acquiring image data of the surrounding environment; generating a spatial image of the surrounding environment based on the image data; determining and acquiring the spatial image corresponding to the positioning target; generating anchor point information corresponding to the positioning target based on the corresponding spatial image; and determining the specific location of the positioning target using the spatial image and anchor point information. This application generates a spatial image corresponding to the surrounding real environment as a reference for the specific location. Then, it generates anchor point information by establishing anchor points for the specific target. Finally, it determines the specific location of the target in the spatial image by combining the anchor point information. By utilizing the relationship between the spatial image and the real map, users can achieve more accurate positioning using anchor point information, improving positioning accuracy and thus meeting current user needs and enhancing user experience.

Description

Technical Field

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

[0002] Currently, extended reality (XR) technology has gradually entered people's lives and various related technical fields. Corresponding augmented reality (AR) and virtual reality (VR) devices construct virtual stereoscopic visual environments by closing off human vision, allowing people to participate in the environment and achieve an immersive experience. Among them, XR devices can use various sensors, cameras, displays and other components to achieve localized XR application display, position tracking and positioning, multiple operation modes, and localized logical operations and graphics rendering.

[0003] However, the relevant positioning and navigation technologies can generally only provide users with general directions or area prompts, and cannot achieve precise point-to-point positioning. The current positioning accuracy can no longer meet the user's needs. Summary of the Invention

[0004] In view of this, this application proposes a target positioning method, apparatus, device, storage medium, and program product to improve positioning accuracy, achieve precise point-to-point positioning, thereby meeting the current user needs and improving user experience.

[0005] To achieve the above objectives, this application provides a target localization method applied to a smart terminal, comprising:

[0006] Acquire image data of the surrounding environment, and generate a spatial image of the surrounding environment based on the image data;

[0007] Determine and acquire the spatial image corresponding to the positioning target, and generate anchor point information corresponding to the positioning target based on the corresponding spatial image;

[0008] The specific location of the positioning target is determined by the spatial image and the anchor point information.

[0009] In some embodiments, the smart terminal includes a lidar;

[0010] The acquisition of image data of the surrounding environment includes:

[0011] The surrounding environment is scanned by the lidar, and point cloud image data is generated based on the scan results.

[0012] In some implementations, the smart terminal includes a depth sensor;

[0013] The acquisition of image data of the surrounding environment includes:

[0014] The depth sensor detects the distance to objects in the surrounding environment and generates depth image data based on the detection results.

[0015] In some embodiments, after generating a spatial image of the surrounding environment based on the image data, the method further includes:

[0016] The spatial images are output to a cloud database, which then statistically analyzes and stores the spatial images transmitted by the smart terminal and other smart terminals.

[0017] In some embodiments, after generating the anchor point information corresponding to the positioning target based on the corresponding spatial image, the method further includes:

[0018] The anchor point information is output to the cloud database so that the cloud database stores the correspondence between the anchor point information and the corresponding spatial image.

[0019] In some implementations, generating anchor point information corresponding to the positioning target based on the corresponding spatial image includes:

[0020] Determine the boundary distance from at least one point on the positioning target to the boundary of the corresponding spatial image;

[0021] A three-dimensional coordinate system is generated based on the corresponding spatial image, and the coordinate points or set of points corresponding to the positioning target in the three-dimensional coordinate system are determined based on the boundary distance, thereby generating the anchor point information.

[0022] In some implementations, determining and acquiring the spatial image corresponding to the positioning target, and generating anchor point information corresponding to the positioning target based on the corresponding spatial image, includes:

[0023] In response to the location target being another smart terminal, determine whether there is a corresponding spatial image in the area where the smart terminal is located;

[0024] If so, the corresponding spatial image is acquired, and the positioning command is sent to the smart terminal to generate the anchor point information through the smart terminal.

[0025] In some implementations, determining the specific location of the positioning target includes:

[0026] Acquire and display network map data, insert the spatial image at the position corresponding to the spatial image on the network map data, and load the anchor point information into the spatial image to determine the specific location of the positioning target.

[0027] In some embodiments, after loading the anchor point information into the spatial image, the method further includes:

[0028] The target location is determined in the network map data based on the spatial image containing the anchor point information, thereby generating navigation information.

[0029] In some embodiments, after generating the anchor point information corresponding to the positioning target based on the corresponding spatial image, the method further includes:

[0030] The anchor point information is output to an external network so that other smart terminals can obtain the anchor point information and determine the specific location of the corresponding positioning target through the anchor point information.

[0031] In some implementations, the location target includes at least: the smart terminal and the target input by the user through the smart terminal.

[0032] Based on the same concept, this application also provides a target positioning device for use in a smart terminal, comprising:

[0033] The generation module is used to acquire image data of the surrounding environment and generate a spatial image of the surrounding environment based on the image data.

[0034] The positioning module is used to determine and acquire the spatial image corresponding to the positioning target, and generate anchor point information corresponding to the positioning target based on the corresponding spatial image;

[0035] The output module is used to determine the specific location of the positioning target using the spatial image and the anchor point information.

[0036] Based on the same concept, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method as described in any of the preceding claims.

[0037] Based on the same concept, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to perform the method described in any of the preceding claims.

[0038] Based on the same concept, this application also provides a computer program product, including computer program instructions that, when run on a computer, cause the computer to perform the method described in any of the preceding claims.

[0039] As described above, this application provides a target positioning method, apparatus, device, storage medium, and program product applied to a smart terminal. The method includes: acquiring image data of the surrounding environment; generating a spatial image of the surrounding environment based on the image data; determining and acquiring the spatial image corresponding to the positioning target; generating anchor point information corresponding to the positioning target based on the corresponding spatial image; and determining the specific location of the positioning target using the spatial image and anchor point information. This application generates a spatial image corresponding to the surrounding real environment as a reference for the specific location. Then, it establishes anchor points for the specific target to generate anchor point information. Finally, it combines the anchor point information to determine the specific location of the target in the spatial image. By utilizing the relationship between the spatial image and the real map, users can achieve more accurate positioning using anchor point information, improving positioning accuracy and thus meeting current user needs and enhancing user experience. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart illustrating a target localization method provided in an embodiment of this application;

[0042] Figure 2 This is a schematic diagram of the structure of a target positioning device provided in an embodiment of this application;

[0043] Figure 3 This is a schematic diagram of the electronic device structure provided in an embodiment of this application. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this specification clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0045] It is understood that before using the technical solutions disclosed in the various embodiments of this application, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this application in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0046] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the software or hardware, such as the electronic device, application, server, or storage medium performing the operations of this application's technical solution, based on the prompt message.

[0047] As an optional but non-limiting implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0048] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this application. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this application.

[0049] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0050] To make the objectives, technical solutions, and advantages of this specification clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0051] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element, object, or method step preceding the term covers the element, object, or method step listed after the term and its equivalents, without excluding other elements, objects, or method steps. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0052] As described in the background section, XR (Extended Reality) technology refers to an interactive environment that combines the real and virtual worlds through computer technology and wearable devices. XR technology can be considered a broad term encompassing VR (Virtual Reality), AR (Augmented Reality), MR (Mixed Reality), and other new immersive technologies that may emerge due to technological advancements. As a general term for immersive virtual and real-world fusion technologies, XR has evolved into different branches such as VR, AR, and MR. VR allows users to be completely immersed in a virtual environment; AR generates a world overlaid with virtual content but cannot interact with the real environment; MR is a hybrid of virtual and reality, creating virtual objects that can interact with the real environment. XR has special significance in film, broadcasting, and live entertainment production and has become the mainstream in the virtual studio industry. Compared to green screens, XR systems produce more realistic shooting effects, and XR technology can create an infinite space within a limited space. Currently, extended reality (XR) technology has gradually entered people's lives and various related technological fields. Augmented reality (AR) and virtual reality (VR) technologies within XR have already found applications in shopping, gaming, entertainment, and fitness. Traditional location and navigation applications generally only provide users with general directions or area prompts, failing to achieve precise point-to-point positioning. For example, they cannot indicate the location of a specific person standing in a crowd; a specific parking space in a parking garage; or the exact location of a lost smart device (phone, earphones). Consequently, the accuracy of current positioning methods no longer meets users' needs.

[0053] In light of the above-mentioned practical situation, this application provides a target positioning scheme. This application generates a spatial image corresponding to the surrounding real environment as a reference for the specific location. Then, it establishes anchor points for the specific target to generate anchor point information. Finally, by combining the anchor point information, the specific location of the target in the spatial image is determined. By utilizing the relationship between the spatial image and the real map, users can achieve more accurate positioning using the anchor point information, improving positioning accuracy and thus meeting current user needs and enhancing the user experience.

[0054] like Figure 1 The diagram shown is a flowchart of a target localization method proposed in this application. This method is applied to a smart terminal and specifically includes:

[0055] Step 101: Acquire image data of the surrounding environment, and generate a spatial image of the surrounding environment based on the image data.

[0056] In some embodiments, a smart terminal refers to a modern intelligent electronic device capable of performing certain numerical calculations and logical operations, possessing storage and memory functions, and able to execute corresponding operations according to user instructions, such as XR glasses, XR headsets, mobile phones, iPads, etc. Subsequently, the smart terminal can perform image acquisition operations by setting up image sensors, etc. The image sensor is a device capable of receiving external optical signals and processing these optical signals into an image, such as a camera. Furthermore, the image sensor can also include various optical receiving devices, such as ordinary cameras, infrared cameras, laser cameras, etc., presenting images that meet different requirements through different optical receiving devices.

[0057] Subsequently, the smart terminal can acquire image data of its surrounding environment through image sensors. This image data can realistically reflect the environment around the smart terminal or user. In a specific embodiment, image sensors can be used to scan the area around the smart terminal or user to acquire image data of the surrounding environment and establish a corresponding spatial image. This spatial image is a data image that can realistically reflect the surrounding environment, such as point cloud images, depth images, etc. The ratio between these spatial images and the real environment can be specifically set according to the specific scenario, such as 1:1, 1:2, 1:5, etc.

[0058] In some embodiments, after acquiring a spatial image, it can be stored locally for later use; alternatively, it can be uploaded to a cloud database for storage; or both methods can be used simultaneously. The cloud database stores all spatial images uploaded by smart terminals and establishes a correspondence between these spatial images and points on map data, facilitating storage and enabling smart terminals to subsequently acquire spatial images of desired locations.

[0059] Step 102: Determine and obtain the spatial image corresponding to the positioning target, and generate anchor point information corresponding to the positioning target based on the corresponding spatial image.

[0060] In some embodiments, the location target is the object that the user wants to locate. After completing step 101, the user may directly set the location target, for example, after generating a spatial image of the area around the parking space, directly use the parking space as the location target; or the location target may be set after a period of time, for example, after the user obtains a spatial image of the office, leaves the office, and then finds that the phone may have been left in the office, at which point the phone may be used as the location target, and so on.

[0061] Subsequently, anchor point information for the location target can be generated based on the spatial image corresponding to the location target. In some embodiments, the spatial image can be a previously acquired spatial image, or a spatial image of the corresponding location found by the smart terminal in a local database or cloud database. Here, after acquiring a location target, according to relevant technologies, the location of the location target can be roughly confirmed. For example, if the acquired location target is a parking space where the car was previously parked, according to relevant technologies, it can be determined which building or parking lot the parking space is located in (based on previous driving records, etc., multimodal data collaborative reasoning can be used), and then the spatial image of the corresponding building or parking lot can be searched. Or, in the scenario of a lost mobile phone, according to relevant technologies, it can be roughly determined which building or area the phone was left in, and then the spatial image of the corresponding building or area can be searched.

[0062] Next, it is necessary to determine the anchor point information of the positioning target in the spatial image. As mentioned above, the positioning target may be determined directly by the user after completing step 101, or it may be determined by the user after a certain period of time. Therefore, in the first case, the smart terminal can directly use the image sensor to acquire and calculate the relationship between the positioning target and the corresponding spatial image to determine the anchor point of the positioning target in the spatial image and generate anchor point information. Specifically, the image sensor can be used to determine the boundary position of the corresponding spatial image in the real environment, then the image sensor can be used to calculate the distance between the positioning target and the boundary position, and then the calculated distance can be adjusted according to the ratio between the spatial image and the real environment. Finally, these distances are mapped onto the spatial image, and the corresponding anchor point is generated in the spatial image. Subsequently, in the second scenario, the location of the target may not be near the current smart terminal. At the same time, the target should generally be a smart device (such as a mobile phone). The smart terminal can then send a positioning command to the smart device that is the target, so that the smart device can determine its corresponding anchor point information based on the spatial image corresponding to its location (the confirmation process is similar to the first scenario, only the subject of the confirmation changes), and finally give the anchor point information to the smart terminal.

[0063] In a specific embodiment, since the spatial image itself corresponds directly to the real environment, the anchor point information can be used to locate the position of the target to a very precise degree, such as which floor, which room, and which location in the building. This anchor point information provides a prerequisite for achieving accurate navigation later.

[0064] Finally, similar to step 101, after generating the corresponding anchor point information, storage operations can also be performed. For example, the anchor point information of a parking space can be stored indefinitely for reuse. Similar to step 101, the anchor point information can be stored locally, stored in a cloud database, or both methods can be used simultaneously. In specific embodiments, the spatial image can be stored or uploaded together with the anchor point information; alternatively, the spatial image can be stored or uploaded first, followed by the storage or upload of the anchor point information.

[0065] Step 103: Determine the specific location of the positioning target using the spatial image and the anchor point information.

[0066] In some embodiments, after obtaining the anchor point information of the location target, it can be stored for later user query. The user can query the information either immediately after its generation or after a certain period of time. For example, in a scenario of locating a parking space, the user might query the information some time after its generation; while in a scenario of a lost phone, the user might view the anchor point information immediately after it is generated. When a user needs to query, if it is a pre-defined location target, a corresponding query command can be generated to perform the query; if it is a temporary location target (e.g., a lost phone), since the user's purpose in locating it is to determine its location, the specific location can be determined directly after the anchor point information is established. Afterwards, the corresponding spatial image and anchor point information can be obtained from local and / or cloud databases and output. This anchor point information can be used to store, display, use, or further process. The specific output method for the anchor point information can be flexibly selected according to different application scenarios and implementation needs.

[0067] For example, in application scenarios where the method of this embodiment is executed on a single device, the anchor point information can be directly output on the display component (monitor, projector, etc.) of the current device, so that the operator of the current device can directly see the content of the anchor point information on the display component (e.g., directly displaying anchor points on a map).

[0068] For example, in application scenarios where the method of this embodiment is executed on a system composed of multiple devices, the anchor point information can be sent to other preset devices within the system as receivers, i.e., synchronization terminals, via any data communication method (wired connection, NFC, Bluetooth, Wi-Fi, cellular mobile network, etc.), so that the synchronization terminals can perform subsequent processing. Optionally, the synchronization terminal can be a preset server, which is generally located in the cloud and serves as a data processing and storage center, capable of storing and distributing anchor point information; wherein, the receivers of the distribution are terminal devices, and the owners or operators of these terminal devices can be the current user, the maintainer of the smart terminal, the owner or administrator of the relevant map application, etc.

[0069] For example, in the application scenario where the method of this embodiment is executed on a system composed of multiple devices, the anchor point information can be directly sent to a preset terminal device through any data communication method. The terminal device can be one or more of the devices listed in the preceding paragraphs.

[0070] This allows the anchor point information to be directly displayed to the current user, determining the specific location of the target to be queried corresponding to the query command; or it can be forwarded to other terminals or published on the network, so that other terminals can obtain it and locate the target to be located based on the anchor point information.

[0071] As described above, this application provides a target positioning method applied to a smart terminal, comprising: acquiring image data of the surrounding environment; generating a spatial image of the surrounding environment based on the image data; determining and acquiring the spatial image corresponding to the positioning target; generating anchor point information corresponding to the positioning target based on the corresponding spatial image; and determining the specific location of the positioning target using the spatial image and anchor point information. This application generates a spatial image corresponding to the surrounding real environment as a reference for the specific location, then establishes anchor points for the specific target to generate anchor point information, and finally determines the specific location of the target in the spatial image by combining the anchor point information. By utilizing the relationship between the spatial image and the real map, users can achieve more accurate positioning using anchor point information when locating a target, improving positioning accuracy and thus meeting current user needs and enhancing user experience.

[0072] In some embodiments, the smart terminal includes a lidar; acquiring image data of the surrounding environment includes: performing a laser scan of the surrounding environment using the lidar, and generating point cloud image data based on the scan results.

[0073] In some embodiments, the image sensor of the smart terminal can be a lidar (LiDAR, Laser Detecting and Ranging). Similar to radar, lidar performs image imaging by emitting and receiving laser beams. In this embodiment, after scanning the surrounding environment by receiving and receiving laser beams, the lidar determines the distance by measuring the time difference and phase difference between the received and received laser signals, measures the angle by horizontal rotation scanning, and establishes a two-dimensional polar coordinate system based on these two parameters. Then, it obtains the three-dimensional height information by acquiring different pitch angle signals. High-frequency lasers can acquire a large amount of location point information (approximately 1.5 million) per second (called a point cloud), and perform three-dimensional modeling based on this information. The final image after three-dimensional modeling is the point cloud image data. Subsequently, similar technologies, namely the flash solution, are used on some other smart devices, such as mobile phones and iPads. The principle of the flash solution is similar to that of a camera; it emits a laser beam as an area array, capturing images of the surrounding environment one frame at a time, acquiring point cloud information of objects, and performing three-dimensional modeling based on this information. In contrast, its hardware is smaller and easier to install in electronic products.

[0074] In some embodiments, the smart terminal includes a depth sensor; acquiring image data of the surrounding environment includes: using the depth sensor to detect the distance to objects in the surrounding environment, and generating depth image data based on the detection results.

[0075] In some embodiments, a depth sensor is used to measure and generate a mesh representing surfaces in a 3D environment (e.g., vertices forming connected triangles). Distance detection is performed by obtaining the distances from various points on objects in the surrounding real-world environment to the sensor. For example, depth data may include pixel depth values ​​from the viewpoint (sensor location) as well as sensor position and orientation data.

[0076] In some embodiments, after generating a spatial image of the surrounding environment based on the image data, the method further includes: outputting the spatial image to a cloud database to statistically analyze and store the spatial images transmitted by the smart terminal and other smart terminals through the cloud database.

[0077] In some embodiments, to achieve spatial image sharing, spatial images can be stored using a cloud database. The cloud database can store and analyze spatial images sent by all smart terminals, mapping and complementing these images with points on a network map, facilitating the retrieval of spatial images of the required points by the smart terminals later.

[0078] In some embodiments, after generating anchor point information corresponding to the positioning target based on the corresponding spatial image, the method further includes: outputting the anchor point information to the cloud database to store the correspondence between the anchor point information and the corresponding spatial image through the cloud database.

[0079] In some embodiments, after generating the corresponding anchor information, this anchor information can be synchronized to a cloud database so that the smart terminal or other smart terminals can directly retrieve the anchor information when needed.

[0080] In some embodiments, generating anchor point information corresponding to the positioning target based on the corresponding spatial image includes: determining the boundary distance from at least one point on the positioning target to the boundary of the corresponding spatial image; generating a three-dimensional coordinate system based on the corresponding spatial image; determining the coordinate points or set of points corresponding to the positioning target in the three-dimensional coordinate system based on the boundary distance; and thereby generating the anchor point information.

[0081] In some embodiments, anchor point information is generated to determine the specific location of a target in a spatial image. The smart terminal can determine the boundary position of the corresponding spatial image in the real environment using an image sensor (or data transmitted from the image sensor of another smart terminal). Then, it uses the image sensor to calculate the distance between a point on the target and the boundary position, i.e., the boundary distance. The calculated distances are then adjusted according to the scale relationship between the spatial image and the real environment, and finally mapped onto the spatial image. Next, a three-dimensional coordinate system is established in the spatial image to specifically mark the position of each point in the spatial image. The previously calculated boundary distances are then converted into coordinates to generate the coordinate values ​​corresponding to the points on the target. Finally, these coordinate values ​​corresponding to the points on the target constitute the anchor point information.

[0082] In some embodiments, determining and acquiring the spatial image corresponding to the positioning target, and generating anchor point information corresponding to the positioning target based on the corresponding spatial image, includes: in response to the positioning target being another smart terminal, determining whether there is a corresponding spatial image in the area where the smart terminal is located; if so, acquiring the corresponding spatial image and sending a positioning command to the smart terminal to generate the anchor point information through the smart terminal.

[0083] In some embodiments, the location of the target may not be near the current smart terminal. For example, if a user wants to locate a lost phone, they first determine the approximate location of the phone (based on relevant technologies, this can be determined by identifying the building or location where the phone is located), and then determine if there is a corresponding spatial image of that location. If so, the corresponding spatial image can be acquired, and a positioning command can be sent to the smart terminal (the lost phone). This allows the smart terminal to determine its corresponding anchor point information based on the spatial image of its location and ultimately provide the anchor point information to the current smart terminal. Here, the other smart terminal can perform anchor point calculation without using an image sensor, as it is itself the positioning target and can utilize its built-in positioning sensors, gyroscopes, and other components to calculate the distance. Of course, in some embodiments, the other smart terminal (the lost phone) can also only collect data, while the calculation steps are performed by the current smart terminal that sent the command.

[0084] In some embodiments, determining the specific location of the positioning target includes: acquiring and displaying network map data, inserting the spatial image at the location corresponding to the spatial image on the network map data, and loading the anchor point information into the spatial image, thereby determining the specific location of the positioning target.

[0085] In some embodiments, to facilitate navigation after a user locates a target, network map data can be acquired first. This network map data can be 2D map data, 3D map data, or other types of map data. Then, the spatial image is loaded at the corresponding location (e.g., the spatial image depicts a building). Anchor point information is then loaded into the spatial image to ultimately display and output the specific location of the target. Finally, when the user views the map and selects a target, they can directly perform point-to-point precise positioning of the target based on the spatial image and anchor point information, and then generate corresponding navigation information. That is, after loading the anchor point information into the spatial image, the method further includes: locating the target in the network map data based on the spatial image with the loaded anchor point information, thereby generating navigation information.

[0086] In some embodiments, after generating anchor point information corresponding to the positioning target based on the corresponding spatial image, the method further includes: outputting the anchor point information to an external network so that other smart terminals can obtain the anchor point information and determine the specific location of the corresponding positioning target through the anchor point information.

[0087] In some embodiments, to achieve anchor point information sharing, the anchor point information can be published on the network or stored on a cloud server or database. This allows other smart terminals to use this anchor point information to perform the same location positioning for the corresponding target. For example, by publishing anchor point information generated with oneself as the positioning target on the network, other smart terminals can locate that smart terminal using this anchor point information. In specific application scenarios, users can publish their own anchor point information on the network, allowing other users (such as delivery drivers, couriers, taxi drivers, etc.) to obtain this anchor point information and accurately locate the user.

[0088] In some embodiments, the location target includes at least: the smart terminal and the target input by the user through the smart terminal.

[0089] It should be noted that the method in this application embodiment can be executed by a single device, such as a computer or server. The method in this application embodiment can also be applied in a distributed scenario, where multiple devices cooperate to complete the process. In such a distributed scenario, one of these devices may execute only one or more steps of the method in this application embodiment, and the multiple devices will interact with each other to complete the method described.

[0090] It should be noted that the above description describes specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0091] Based on the same concept, corresponding to any of the above embodiments, this application also provides a target positioning device.

[0092] refer to Figure 2 The target positioning device, applied to a smart terminal, includes:

[0093] The generation module 210 is used to acquire image data of the surrounding environment and generate a spatial image of the surrounding environment based on the image data.

[0094] The positioning module 220 is used to determine and acquire the spatial image corresponding to the positioning target, and generate anchor point information corresponding to the positioning target based on the corresponding spatial image.

[0095] The output module 230 is used to determine the specific location of the positioning target using the spatial image and the anchor point information.

[0096] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing the embodiments of this application, the functions of each module can be implemented in one or more software and / or hardware.

[0097] The apparatus described above is used to implement the corresponding target localization method in the foregoing embodiments and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0098] In some embodiments, the smart terminal includes a lidar;

[0099] The generation module 210 is further configured to:

[0100] The surrounding environment is scanned by the lidar, and point cloud image data is generated based on the scan results.

[0101] In some embodiments, the smart terminal includes a depth sensor;

[0102] The generation module 210 is further configured to:

[0103] The depth sensor detects the distance to objects in the surrounding environment and generates depth image data based on the detection results.

[0104] In some embodiments, the generation module 210 is further configured to:

[0105] The spatial images are output to a cloud database, which then statistically analyzes and stores the spatial images transmitted by the smart terminal and other smart terminals.

[0106] In some embodiments, the positioning module 220 is further configured to:

[0107] The anchor point information is output to the cloud database so that the cloud database stores the correspondence between the anchor point information and the corresponding spatial image.

[0108] In some embodiments, the positioning module 220 is further configured to:

[0109] Determine the boundary distance from at least one point on the positioning target to the boundary of the corresponding spatial image;

[0110] A three-dimensional coordinate system is generated based on the corresponding spatial image, and the coordinate points or set of points corresponding to the positioning target in the three-dimensional coordinate system are determined based on the boundary distance, thereby generating the anchor point information.

[0111] In some embodiments, the positioning module 220 is further configured to:

[0112] In response to the location target being another smart terminal, determine whether there is a corresponding spatial image in the area where the smart terminal is located;

[0113] If so, the corresponding spatial image is acquired, and a positioning command is sent to the smart terminal to generate the anchor point information through the smart terminal.

[0114] In some embodiments, the output module 230 is further configured to:

[0115] Acquire and display network map data, insert the spatial image at the position corresponding to the spatial image on the network map data, and load the anchor point information into the spatial image to determine the specific location of the positioning target.

[0116] In some embodiments, the output module 230 is further configured to:

[0117] The target location is determined in the network map data based on the spatial image containing the anchor point information, thereby generating navigation information.

[0118] In some embodiments, the output module 230 is further configured to:

[0119] The anchor point information is output to an external network so that other smart terminals can obtain the anchor point information and determine the specific location of the corresponding positioning target through the anchor point information.

[0120] In some embodiments, the location target includes at least: the smart terminal and the target input by the user through the smart terminal.

[0121] Based on the same concept, corresponding to the methods of any of the above embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the target positioning method as described in any of the above embodiments.

[0122] Figure 3 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0123] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0124] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0125] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0126] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0127] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0128] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0129] The electronic devices described above are used to implement the corresponding target localization methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0130] Based on the same concept, corresponding to the methods of any of the above embodiments, this application also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the target positioning method as described in any of the above embodiments.

[0131] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0132] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the target positioning method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0133] Based on the same concept, corresponding to the target localization method described in any of the above embodiments, this application also provides a computer program product, which includes computer program instructions. In some embodiments, the computer program instructions can be executed by one or more processors of a computer to cause the computer and / or the processor to perform the target localization method. Corresponding to the execution entity for each step in each embodiment of the target localization method, the processor executing the corresponding step may belong to the corresponding execution entity.

[0134] The computer program products of the above embodiments are used to cause the computer and / or the processor to execute the target localization method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0135] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0136] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0137] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0138] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A target positioning method characterized by, The application is applied to a smart terminal, comprising: acquiring image data of a surrounding environment, and generating a spatial image of the surrounding environment according to the image data; determining and acquiring a spatial image corresponding to a positioning target, and generating anchor point information corresponding to the positioning target according to the spatial image; determining a specific position of the positioning target through the spatial image and the anchor point information; the generating of the anchor point information corresponding to the positioning target according to the spatial image comprises: determining a boundary distance from at least one point on the positioning target to a boundary of the corresponding spatial image; generating a three-dimensional coordinate system according to the spatial image, and determining a coordinate point or a point set corresponding to the positioning target in the three-dimensional coordinate system according to the boundary distance, so as to generate the anchor point information.

2. The method of claim 1, wherein, The smart terminal comprises a laser radar; the acquiring of the image data of the surrounding environment comprises: carrying out laser scanning on the surrounding environment through the laser radar, and generating point cloud image data according to the scanning result.

3. The method of claim 1, wherein, The smart terminal comprises a depth sensor; the acquiring of the image data of the surrounding environment comprises: carrying out distance detection on objects in the surrounding environment through the depth sensor, and generating depth image data according to the detection result.

4. The method of claim 1, wherein, After the generating of the spatial image of the surrounding environment according to the image data, the method further comprises: outputting the spatial image to a cloud database, so as to count and store the spatial image transmitted by the smart terminal and other smart terminals through the cloud database.

5. The method of claim 4, wherein, After the generating of the anchor point information corresponding to the positioning target according to the spatial image, the method further comprises: outputting the anchor point information to the cloud database, so as to store the correspondence between the anchor point information and the corresponding spatial image through the cloud database.

6. The method of claim 1, wherein, The determining and acquiring of the spatial image corresponding to the positioning target, and the generating of the anchor point information corresponding to the positioning target according to the spatial image, comprise: in response to the positioning target being another smart terminal, determining whether there is a corresponding spatial image in an area where the smart terminal is located; if there is, acquiring the corresponding spatial image, and sending a positioning instruction to the smart terminal, so as to generate the anchor point information through the smart terminal.

7. The method of claim 1, wherein, The determining of the specific position of the positioning target comprises: acquiring and displaying network map data, inserting the spatial image at a position corresponding to the spatial image on the network map data, and loading the anchor point information in the spatial image, so as to determine the specific position of the positioning target.

8. The method of claim 7, wherein, After the loading of the anchor point information in the spatial image, the method further comprises: positioning the positioning target in the network map data according to the spatial image on which the anchor point information is loaded, so as to generate navigation information.

9. The method of claim 1, wherein, After the generating of the anchor point information corresponding to the positioning target according to the spatial image, the method further comprises: outputting the anchor point information to an external network, so that other smart terminals acquire the anchor point information, and determine the specific position of the corresponding positioning target through the anchor point information.

10. The method of claim 1, wherein, The positioning target at least includes the smart terminal and a target input by a user through the smart terminal.

11. A target positioning device, characterized by Applied to a smart terminal, comprising: A generation module configured to acquire image data of a surrounding environment and generate a spatial image of the surrounding environment according to the image data; A positioning module configured to determine and acquire the spatial image corresponding to a positioning target, and generate anchor point information corresponding to the positioning target according to the corresponding spatial image; An output module configured to determine a specific position of the positioning target through the spatial image and the anchor point information. The generation of the anchor point information corresponding to the positioning target according to the corresponding spatial image comprises: Determining a boundary distance from at least one point on the positioning target to a boundary of the corresponding spatial image; Generating a three-dimensional coordinate system according to the corresponding spatial image, determining a corresponding coordinate point or point set of the positioning target in the three-dimensional coordinate system according to the boundary distance, and generating the anchor point information accordingly.

12. An electronic device, comprising: A computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 10 when executing the program.

13. A non-transitory computer-readable storage medium, comprising: The non-transitory computer readable storage medium stores computer instructions for causing a computer to implement the method according to any one of claims 1 to 10.

14. A computer program product, characterised in that, The computer program instructions, when executed on a computer, cause the computer to perform the method according to any one of claims 1 to 10.

Images