Positioning method, apparatus, and terminal device

Abstract

The application is suitable for the positioning technical field, and provides a positioning method, which is applied to obtaining an initial attitude of a panoramic camera, obtaining an initial panoramic image, and obtaining a panoramic image attitude, the panoramic image attitude being an attitude of the panoramic camera at an exposure time corresponding to the initial panoramic image; adjusting the initial panoramic image according to the initial attitude and the panoramic image attitude to obtain an adjustment result; and positioning the panoramic camera according to the adjustment result. Through the positioning method, the accuracy of the positioning of the panoramic camera can be improved.

Description

Technical Field

[0001] This application belongs to the field of positioning technology, and in particular relates to positioning methods, devices and terminal equipment. Background Technology

[0002] With the continuous development of science and technology, various terminal devices have sprung up in people's lives, such as panoramic cameras. Panoramic cameras utilize the panoramic images they capture to achieve powerful functions; for example, they can perform positioning and tracking based on panoramic images. However, the positioning accuracy of current panoramic cameras is relatively low. Summary of the Invention

[0003] This application provides a positioning method, apparatus, terminal device, and computer-readable storage medium, which can solve the problem of low positioning accuracy of current terminal devices.

[0004] In a first aspect, embodiments of this application provide a positioning method, comprising: acquiring an initial pose of a panoramic camera; acquiring an initial panoramic image and acquiring a panoramic image pose, wherein the panoramic image pose is the pose of the panoramic camera at the exposure time corresponding to the initial panoramic image; adjusting the initial panoramic image according to the initial pose and the panoramic image pose to obtain an adjustment result; and positioning the panoramic camera according to the adjustment result.

[0005] In one possible implementation of the first aspect, adjusting the initial panoramic image based on the initial pose and the panoramic image pose to obtain an adjustment result includes: inverting the quaternion corresponding to the initial pose to obtain an inversion result; and adjusting the initial panoramic image based on the inversion result and the quaternion corresponding to the panoramic image pose to obtain an adjustment result.

[0006] In one possible implementation of the first aspect, adjusting the initial panoramic image based on the inversion result and the quaternion corresponding to the panoramic image pose includes: rotating the initial panoramic image based on the inversion result and the quaternion corresponding to the panoramic image pose, wherein the adjustment result includes the rotated panoramic image.

[0007] In one possible implementation of the first aspect, the initial panoramic image includes an initial first image and an initial second image, the panoramic image pose includes a first image pose and a second image pose, the first image pose being the pose of the panoramic camera at the exposure time corresponding to the initial first image, and the second image pose being the pose of the panoramic camera at the exposure time corresponding to the initial second image; correspondingly, adjusting the initial panoramic image according to the initial pose and the panoramic image pose to obtain an adjustment result includes: adjusting the initial first image according to the initial pose and the first image pose to obtain a first adjustment result; adjusting the initial second image according to the initial pose and the second image pose to obtain a second adjustment result; correspondingly, locating the panoramic camera according to the adjustment result includes: locating the panoramic camera according to the first adjustment result and the second adjustment result.

[0008] In one possible implementation of the first aspect, adjusting the initial first image based on the initial pose and the first image pose to obtain a first adjustment result; and adjusting the initial second image based on the initial pose and the second image pose to obtain a second adjustment result, includes: inverting the quaternion corresponding to the initial pose to obtain an inversion result; adjusting the initial first image based on the inversion result and the quaternion corresponding to the first image pose to obtain the first adjustment result; and adjusting the initial second image based on the inversion result and the quaternion corresponding to the second image pose to obtain the second adjustment result.

[0009] In one possible implementation of the first aspect, the positioning method further includes: tracking the panoramic camera based on the first adjustment result and the second adjustment result.

[0010] Secondly, embodiments of this application provide a positioning device, comprising: a first acquisition unit for acquiring an initial pose of a panoramic camera; a second acquisition unit for acquiring an initial panoramic image and acquiring a panoramic image pose, wherein the panoramic image pose is the pose of the panoramic camera at the exposure time corresponding to the initial panoramic image; an adjustment unit for adjusting the initial panoramic image according to the initial pose and the panoramic image pose to obtain an adjustment result; and a positioning unit for positioning the panoramic camera according to the adjustment result.

[0011] Thirdly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in any of the above-mentioned embodiments.

[0012] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any of the preceding claims.

[0013] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here.

[0014] The beneficial effects of this application embodiment compared with the prior art are as follows: This application embodiment can obtain the initial pose of the panoramic camera; then obtain the initial panoramic image, and obtain the panoramic image pose, wherein the panoramic image pose is the pose of the panoramic camera at the exposure time corresponding to the initial panoramic image; then, based on the initial pose and the panoramic image pose, the initial panoramic image is adjusted to obtain the adjustment result, which can be regarded as the image captured by the panoramic camera in the initial pose; then, the panoramic camera is positioned based on the adjustment result. In this way, positioning failure caused by large movements of the panoramic camera can be effectively avoided, that is, the image stabilization effect of the panoramic camera can be optimized, and the positioning accuracy of the panoramic camera can be improved. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, 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 drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart illustrating a positioning method provided in an embodiment of this application;

[0017] Figure 2 This is a schematic flowchart of a positioning device provided in an embodiment of this application;

[0018] Figure 3 This is a schematic diagram of a terminal device provided in an embodiment of this application. Detailed Implementation

[0019] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0020] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0021] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0022] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0023] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0025] Example 1

[0026] Figure 1 This illustration shows a flowchart of a positioning method provided in an embodiment of this application. This positioning method can be applied to a terminal device; however, by way of example and not limitation, the terminal device is a server or a panoramic camera. The positioning method includes steps S101, S102, S103, and S104. Details are as follows:

[0027] Step S101: Obtain the initial pose of the panoramic camera.

[0028] As an example, and not a limitation, the initial attitude of a panoramic camera can be represented by a quaternion. An inertial measurement unit (IMU) can be set in the panoramic camera, and the panoramic camera can calculate the quaternion based on the data collected by the gyroscope and the accelerometer in the IMU.

[0029] Step S102: Obtain an initial panoramic image and obtain the panoramic image pose, wherein the panoramic image pose is the pose of the panoramic camera at the exposure time corresponding to the initial panoramic image.

[0030] Wherein, the panoramic image pose and the initial pose are the poses of the panoramic camera at different times.

[0031] By way of example and not limitation, the panoramic camera is capable of taking an exposure at time T0 to acquire a panoramic image P1 and a panoramic image pose R1, where the panoramic image pose R1 is the pose of the panoramic camera at time T0. The initial panoramic image refers to the panoramic image before processing in step S103.

[0032] Step S103: Adjust the initial panoramic image according to the initial pose and the panoramic image pose to obtain the adjustment result.

[0033] As an example, and not a limitation, the initial panoramic image is a spherical panoramic image, and step S103 includes: rotating the initial panoramic image according to the initial pose and the panoramic image pose. This rotation may include: rotating the initial panoramic image around a specified axis of a panoramic sphere, wherein the panoramic sphere is the sphere corresponding to the spherical panoramic image captured by the panoramic camera.

[0034] Optionally, step S103 includes: inverting the quaternion corresponding to the initial pose to obtain the inversion result; adjusting the initial panoramic image according to the inversion result and the quaternion corresponding to the panoramic image pose to obtain the adjustment result.

[0035] Wherein, the quaternion corresponding to the initial pose is a quaternion that can represent the initial pose; the quaternion corresponding to the panoramic image pose is a quaternion that can represent the panoramic image pose.

[0036] In some embodiments, adjusting the initial panoramic image based on the inversion result and the quaternion corresponding to the panoramic image pose includes: rotating the initial panoramic image based on the inversion result and the quaternion corresponding to the panoramic image pose; correspondingly, the adjustment result includes the rotated panoramic image. This improves the accuracy of panoramic camera positioning.

[0037] Specifically, the initial panoramic image is an unrotated spherical panoramic image. Based on the inversion result and the quaternion corresponding to the panoramic image pose, the initial panoramic image is rotated around a specified axis of the panoramic sphere.

[0038] As an example, and not a limitation, the panoramic sphere includes the South Pole and the North Pole, and the designated axis may be an axis pointing from the South Pole to the North Pole, around which the initial panoramic image is rotated.

[0039] In some embodiments, the quaternion corresponding to the initial attitude can be represented by R0. Inverting the quaternion corresponding to the initial attitude yields the inverse result, which can be used... This indicates that the quaternion R1 corresponding to the pose of the panoramic image, the initial panoramic image P1, and the adjustment result are... The following relationship must be satisfied:

[0040] Step S104: Position the panoramic camera according to the adjustment result.

[0041] Specifically, the adjustment result is an adjusted panoramic image, for example, a rotated panoramic image, and the location of the panoramic camera is determined based on the rotated panoramic image.

[0042] In some implementations, the initial panoramic image includes an initial first image and an initial second image, and the panoramic image pose includes a first image pose and a second image pose. The first image pose is the pose of the panoramic camera at the exposure time corresponding to the initial first image, and the second image pose is the pose of the panoramic camera at the exposure time corresponding to the initial second image. Correspondingly, adjusting the initial panoramic image based on the initial pose and the panoramic image pose to obtain an adjustment result includes: adjusting the initial first image based on the initial pose and the first image pose to obtain a first adjustment result; adjusting the initial second image based on the initial pose and the second image pose to obtain a second adjustment result. Correspondingly, locating the panoramic camera based on the adjustment result includes: locating the panoramic camera based on the first adjustment result and the second adjustment result.

[0043] The first adjustment result is the adjusted first image, and the second adjustment result is the adjusted second image.

[0044] As an example and not a limitation, the initial first image and the initial second image are two adjacent frames.

[0045] In some embodiments, adjusting the initial first image based on the initial pose and the first image pose to obtain a first adjustment result; and adjusting the initial second image based on the initial pose and the second image pose to obtain a second adjustment result, includes: inverting the quaternion corresponding to the initial pose to obtain an inversion result; adjusting the initial first image based on the inversion result and the quaternion corresponding to the first image pose to obtain the first adjustment result; and adjusting the initial second image based on the inversion result and the quaternion corresponding to the second image pose to obtain the second adjustment result.

[0046] The quaternion corresponding to the initial attitude can be represented by R0. Inverting the quaternion corresponding to the initial attitude yields the inverse result, which can be used... This indicates that the quaternion R corresponding to the pose of the first image is... 11 The initial first image P 11 The first adjustment result The following relationship must be satisfied: The quaternion R corresponding to the pose of the second image 12 The initial second image P 12 The second adjustment result The following relationship must be satisfied:

[0047] In some embodiments, the positioning method further includes: tracking the panoramic camera based on the first adjustment result and the second adjustment result.

[0048] Specifically, the step of locating the panoramic camera based on the first adjustment result and the second adjustment result includes: locating the panoramic camera based on the first adjustment result to obtain first positioning information, and locating the panoramic camera based on the second adjustment result to obtain second positioning information, wherein the first positioning information is used to indicate the position of the panoramic camera at the exposure time corresponding to the initial first image, and the second positioning information is used to indicate the position of the panoramic camera at the exposure time corresponding to the initial second image; the step of tracking the panoramic camera based on the first adjustment result and the second adjustment result includes: tracking the panoramic camera based on the first positioning information and the second positioning information.

[0049] The first adjustment result is the adjusted first image, and the second adjustment result is the adjusted second image. The first adjustment result can be regarded as a panoramic image captured by the panoramic camera in the initial posture, and the second adjustment result can also be regarded as a panoramic image captured by the panoramic camera in the initial posture. Therefore, the image change from the first adjustment result to the second adjustment result is relatively small. Using the first adjustment result and the second adjustment result as images as source images for Simultaneous Localization and Mapping (SLAM) tracking can effectively reduce the failure rate of SLAM tracking.

[0050] This application embodiment can obtain the initial pose of the panoramic camera; then obtain an initial panoramic image, and obtain the panoramic image pose, wherein the panoramic image pose is the pose of the panoramic camera at the exposure time corresponding to the initial panoramic image; then, based on the initial pose and the panoramic image pose, the initial panoramic image is adjusted to obtain an adjustment result, which can be regarded as the image captured by the panoramic camera in the initial pose; then, the panoramic camera is positioned based on the adjustment result. In this way, positioning failure caused by large movements of the panoramic camera can be effectively avoided, that is, the image stabilization effect of the panoramic camera can be optimized, and the positioning accuracy of the panoramic camera can be improved.

[0051] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0052] Example 2

[0053] Corresponding to the positioning method described in the above embodiments, Figure 2 A schematic diagram of a positioning device provided in an embodiment of this application is shown. For ease of explanation, only the parts relevant to the embodiment of this application are shown. The positioning device includes: a first acquisition unit 201, a second acquisition unit 202, an adjustment unit 203, and a positioning unit 204.

[0054] The first acquisition unit 201 is used to acquire the initial pose of the panoramic camera;

[0055] The second acquisition unit 202 is used to acquire an initial panoramic image and acquire the panoramic image pose, wherein the panoramic image pose is the pose of the panoramic camera at the exposure time corresponding to the initial panoramic image.

[0056] The adjustment unit 203 is used to adjust the initial panoramic image according to the initial pose and the panoramic image pose to obtain an adjustment result;

[0057] The positioning unit 204 positions the panoramic camera according to the adjustment result.

[0058] In some embodiments, the positioning device further includes a tracking unit.

[0059] The tracking unit is used to track the panoramic camera based on the first adjustment result and the second adjustment result.

[0060] This application embodiment can obtain the initial pose of the panoramic camera; then obtain an initial panoramic image, and obtain the panoramic image pose, wherein the panoramic image pose is the pose of the panoramic camera at the exposure time corresponding to the initial panoramic image; then, based on the initial pose and the panoramic image pose, the initial panoramic image is adjusted to obtain an adjustment result, which can be regarded as the image captured by the panoramic camera in the initial pose; then, the panoramic camera is positioned based on the adjustment result. In this way, positioning failure caused by large movements of the panoramic camera can be effectively avoided, that is, the image stabilization effect of the panoramic camera can be optimized, and the positioning accuracy of the panoramic camera can be improved.

[0061] It should be noted that for technical details not described in detail in this embodiment, please refer to the positioning methods provided in the various embodiments of Embodiment 1 above.

[0062] Example 3

[0063] The terminal device 3 in this embodiment includes: at least one processor 30, a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30. When the processor 30 executes the computer program 32, it implements the steps in any of the above-described positioning method embodiments.

[0064] When the processor 30 executes the computer program 32, it implements the steps in the above-described positioning method embodiments, for example... Figure 1 Steps S101 to S104 are shown. Alternatively, when the processor 30 executes the computer program 32, it implements the functions of each unit in the above-described device embodiments, for example... Figure 2 The functions of units 201 to 204 are shown. By way of example and not limitation, the terminal device 3 may be a panoramic camera.

[0065] Those skilled in the art will understand that this embodiment is merely an example of terminal device 3 and does not constitute a limitation on terminal device 3. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0066] The processor 30 may be a Central Processing Unit (CPU), or it may be another general-purpose processor 30, a digital signal processor 30 (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor 30 may be a microprocessor 30, or it may be any conventional processor 30, etc.

[0067] In some embodiments, the memory 31 may be an internal storage unit of the terminal device 3, such as a hard disk or memory of the terminal device 3. In other embodiments, the memory 31 may be an external storage device of the terminal device 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the terminal device 3. Furthermore, the memory 31 may include both internal and external storage units of the terminal device 3. The memory 31 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program 32. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0068] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0069] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0070] This application also provides a computer-readable storage medium storing a computer program 32, which, when executed by a processor 30, implements the steps described in the above-described method embodiments.

[0071] This application provides a computer program 32 product that, when run on a terminal device 3, enables the terminal device 3 to implement the steps described in the above-described method embodiments.

[0072] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can be implemented by a computer program 32 instructing related hardware. The computer program 32 can be stored in a computer-readable storage medium, and when executed by the processor 30, it can implement the steps of the various method embodiments described above. The computer program 32 includes computer program 32 code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include at least: any entity or device capable of carrying the computer program 32 code to the terminal device 3, a recording medium, a computer memory 31, a read-only memory 31 (ROM), a random access memory 31 (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0073] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0074] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0075] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0076] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0077] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A positioning method, characterized in that, include: The initial attitude of the panoramic camera is obtained. The panoramic camera is equipped with an inertial measurement unit. The panoramic camera calculates a quaternion based on the data collected by the gyroscope and the accelerometer in the inertial measurement unit. The initial attitude of the panoramic camera is represented by the quaternion. Acquire an initial panoramic image and acquire the panoramic image pose, wherein the panoramic image pose is the pose of the panoramic camera at the exposure time corresponding to the initial panoramic image, and the panoramic image pose and the initial pose are the poses of the panoramic camera at different times. Based on the initial pose and the pose of the panoramic image, the initial panoramic image is adjusted to obtain the adjustment result; The panoramic camera is positioned based on the adjustment results; The step of adjusting the initial panoramic image based on the initial pose and the panoramic image pose to obtain the adjustment result includes: Invert the quaternion corresponding to the initial posture to obtain the inverse result; The initial panoramic image is adjusted based on the inversion result and the quaternion corresponding to the panoramic image pose to obtain an adjustment result; the adjustment of the initial panoramic image based on the inversion result and the quaternion corresponding to the panoramic image pose includes: Based on the inverse result and the quaternion corresponding to the pose of the panoramic image, the initial panoramic image is rotated, and the adjustment result includes the rotated panoramic image.

2. The positioning method as described in claim 1, characterized in that, The initial panoramic image includes an initial first image and an initial second image. The panoramic image pose includes a first image pose and a second image pose. The first image pose is the pose of the panoramic camera at the exposure time corresponding to the initial first image, and the second image pose is the pose of the panoramic camera at the exposure time corresponding to the initial second image. Correspondingly, adjusting the initial panoramic image based on the initial pose and the panoramic image pose to obtain an adjustment result includes: adjusting the initial first image based on the initial pose and the first image pose to obtain a first adjustment result; and adjusting the initial second image based on the initial pose and the second image pose to obtain a second adjustment result. Correspondingly, the step of locating the panoramic camera based on the adjustment result includes: The panoramic camera is positioned based on the first adjustment result and the second adjustment result.

3. The positioning method as described in claim 2, characterized in that, The step of adjusting the initial first image based on the initial pose and the first image pose to obtain a first adjustment result; and adjusting the initial second image based on the initial pose and the second image pose to obtain a second adjustment result, includes: Invert the quaternion corresponding to the initial posture to obtain the inverse result; Based on the inversion result and the quaternion corresponding to the pose of the first image, the initial first image is adjusted to obtain a first adjustment result; Based on the inversion result and the quaternion corresponding to the pose of the second image, the initial second image is adjusted to obtain a second adjustment result.

4. The positioning method as described in claim 2, characterized in that, The positioning method further includes: The panoramic camera is tracked based on the first adjustment result and the second adjustment result.

5. A positioning device, characterized in that, include: The first acquisition unit is used to acquire the initial attitude of the panoramic camera. The panoramic camera is equipped with an inertial measurement unit. The panoramic camera calculates a quaternion based on the data collected by the gyroscope and the accelerometer in the inertial measurement unit. The initial attitude of the panoramic camera is represented by a quaternion. The second acquisition unit is used to acquire an initial panoramic image and acquire the panoramic image pose, wherein the panoramic image pose is the pose of the panoramic camera at the exposure time corresponding to the initial panoramic image, and the panoramic image pose and the initial pose are the poses of the panoramic camera at different times. An adjustment unit is used to adjust the initial panoramic image according to the initial pose and the panoramic image pose to obtain an adjustment result; The adjustment unit is also used to invert the quaternion corresponding to the initial attitude to obtain the inversion result; Based on the inverse result and the quaternion corresponding to the pose of the panoramic image, the initial panoramic image is adjusted to obtain the adjustment result; The adjustment unit is further configured to rotate the initial panoramic image according to the inversion result and the quaternion corresponding to the panoramic image pose, and the adjustment result includes the rotated panoramic image. The positioning unit positions the panoramic camera based on the adjustment results.

6. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 4.

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