Trajectory tracking method and device and medium

Abstract

The invention relates to a trajectory tracking method and device and a medium, and the method comprises the steps: obtaining the pose information of target equipment at a current tracking moment, and enabling the pose information to comprise the displacement corresponding to the target equipment; acquiring a count value of an air pressure detection device at the same position as the target equipment, and determining a detection height corresponding to the target equipment according to the count value; according to the detection height and the displacement amount, the pose information is updated, target pose information is obtained, and the target pose information of the target equipment at the multiple tracking moments forms a tracking trajectory of the target equipment. Therefore, the height information of the position where the target is arranged can be comprehensively determined in combination with the data of the positioning system of the target equipment and the air pressure detection device, the pose information of the target equipment is corrected based on the data of the air pressure detection device, the accuracy of the obtained pose information of the target is improved, and the use scene of the trajectory tracking method is widened.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a trajectory tracking method, device and medium. Background Art

[0002] In the fields of VR (Virtual Reality) and AR (Augmented Reality), application scenarios usually require tracking of the real physical world to achieve a combination of virtual and real objects to provide a better sense of immersion. In this field, related wearable or handheld devices usually need to establish a map scene to track motion trajectories. In related technologies, positioning is usually based on images collected by wearable or handheld devices to achieve trajectory tracking. In closed scenes in the real world, trajectory tracking may be lost due to unchanged environmental images. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a trajectory tracking method, device and medium.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a trajectory tracking method, comprising:

[0005] Obtaining the position information of the target device at the current tracking moment, wherein the position information includes the displacement corresponding to the target device;

[0006] Obtaining a count value of an air pressure detection device located at the same position as the target device, and determining a detection height corresponding to the target device according to the count value;

[0007] The position information is updated according to the detected height and the displacement to obtain target position information, and the target position information of the target device at multiple tracking moments forms a tracking trajectory of the target device.

[0008] Optionally, updating the position and posture information according to the detected height and the displacement to obtain target position and posture information includes:

[0009] Obtain the base height of the origin of the coordinate system corresponding to the posture information;

[0010] Determine the difference between the detected height and the base height as a height difference;

[0011] Determining a displacement component of the target device in a vertical direction according to the displacement amount;

[0012] The posture information is updated according to the height difference and the displacement component.

[0013] Optionally, updating the posture information according to the height difference and the displacement component includes:

[0014] If the absolute value of the difference between the height difference and the displacement component is greater than a preset threshold, the displacement component is updated to the height difference to update the posture information.

[0015] Optionally, the obtaining of the position and posture information of the target device at the current tracking moment includes:

[0016] Obtaining a tracking image corresponding to the target device at the current tracking moment;

[0017] Performing feature point matching on the tracking image to obtain image features;

[0018] Performing pose estimation based on the image features to obtain first pose information corresponding to the target device;

[0019] Acquire IMU data corresponding to the target device, and determine second posture information corresponding to the target device according to the IMU data;

[0020] The first posture information and the second posture information are fused to obtain the posture information.

[0021] Optionally, before the step of obtaining the count value of the air pressure detection device at the same position as the target device, the method further includes:

[0022] Get the tracking image of the target device at the current tracking moment;

[0023] Determining a tracking mode corresponding to the target device according to the tracking image;

[0024] If the tracking mode is the calibration tracking mode, the step of acquiring the count value of the air pressure detection device at the same position as the target device is performed.

[0025] Optionally, before the step of obtaining the count value of the air pressure detection device at the same position as the target device, the method further includes:

[0026] In response to detecting the target gesture operation, determining that the tracking mode corresponding to the target device is a correction tracking mode;

[0027] In case the tracking mode is the correction tracking mode, the step of acquiring the count value of the air pressure detection device at the same position as the target device is performed.

[0028] Optionally, the target gesture operation is obtained based on image recognition collected by the target device, or based on an operation of a user on the target device.

[0029] According to a second aspect of an embodiment of the present disclosure, a trajectory tracking device is provided, the device comprising:

[0030] A first acquisition module is configured to acquire the position and posture information of the target device at the current tracking moment, wherein the position and posture information includes a displacement corresponding to the target device;

[0031] A second acquisition module is configured to acquire a count value of an air pressure detection device located at the same position as the target device, and determine a detection height corresponding to the target device according to the count value;

[0032] The processing module is configured to update the posture information according to the detected height and the displacement to obtain target posture information, and the target posture information of the target device at multiple tracking moments forms a tracking trajectory of the target device.

[0033] According to a third aspect of an embodiment of the present disclosure, there is provided a trajectory tracking device, comprising:

[0034] processor;

[0035] a memory for storing processor-executable instructions;

[0036] Wherein, the processor is configured to:

[0037] Obtaining the position information of the target device at the current tracking moment, wherein the position information includes the displacement corresponding to the target device;

[0038] Obtaining a count value of an air pressure detection device located at the same position as the target device, and determining a detection height corresponding to the target device according to the count value;

[0039] The position information is updated according to the detected height and the displacement to obtain target position information, and the target position information of the target device at multiple tracking moments forms a tracking trajectory of the target device.

[0040] According to a fourth aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0041] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0042] In the above technical scheme, the position and posture information of the target device at the current tracking moment is obtained to obtain the corresponding displacement of the target device, and at the same time, the detection height corresponding to the target device is determined based on the count value of the air pressure detection device at the same position as the target device, so that the height information of the target setting position can be comprehensively determined in combination with the data of the positioning system of the target device and the air pressure detection device, and the position and posture information of the target device is corrected based on the data of the air pressure detection device to improve the accuracy of the obtained target position and posture information. For example, in a closed elevator scenario, due to the unchanged environmental image, it is difficult to deviate or fail to locate during the elevator ride. Based on the method provided by the present disclosure, accurate positioning can be performed in the scenario of moving in the elevator, avoiding the loss of trajectory tracking due to the unchanged environmental image in the closed scene in the real world, broadening the application scenario of the trajectory tracking method, and at the same time, it can also improve the accuracy of the tracking trajectory and enhance the user experience.

[0043] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0045] Figure 1 The figure is a flow chart of a trajectory tracking method according to an exemplary embodiment.

[0046] Figure 2 It is a block diagram of a trajectory tracking device according to an exemplary embodiment.

[0047] Figure 3 It is a block diagram of a device for trajectory tracking according to an exemplary embodiment.

[0048] Figure 4 It is a block diagram of a device for trajectory tracking according to an exemplary embodiment. DETAILED DESCRIPTION

[0049] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0050] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0051] Figure 1 is a flow chart of a trajectory tracking method according to an exemplary embodiment. Figure 1 As shown, the method may include the following steps:

[0052] In step 11, the position and posture information of the target device at the current tracking moment is obtained, and the position and posture information includes the displacement corresponding to the target device.

[0053] The duration of the interval between each tracking moment can be set according to the actual application scenario, and the present disclosure does not limit this. For example, in a scenario where the accuracy of trajectory tracking is required to be high, the duration can be set to be shorter, and in a scenario where the accuracy of trajectory tracking is required to be lower, the duration can be set to be longer.

[0054] As an example, the target device may include but is not limited to a wearable device and a handheld device. The position information may be determined based on an existing positioning system in the target device, and the position information may include displacement and posture.

[0055] For example, a three-dimensional world coordinate system can be created with the initial position of the target device as the origin, and all subsequent motion trajectory calculations are based on this world coordinate system. For example, the world coordinate system can be created using the Cartesian left-handed coordinate system as an example. Taking the position of the target device when it is initialized as the origin, the horizontal right is the positive direction of the X-axis, the vertical upward along the direction of gravity is the positive direction of the Y-axis, and the horizontal forward is the positive direction of the Z-axis. At this time, the displacement of the target device is (0, 0, 0), where each dimension represents the displacement on the three axes relative to the origin.

[0056] In step 12, a count value of an air pressure detection device at the same position as the target device is obtained, and a detection height corresponding to the target device is determined according to the count value.

[0057] The air pressure detection device may be a barometer, an air pressure sensor, etc. The air pressure detection device may be integrated and installed on the target device, so as to collect the corresponding atmospheric pressure of the target device at its location. The air pressure detection device may also be independent of the target device, and it may be used to detect the atmospheric pressure at the location of the target device, which is not limited in the present disclosure.

[0058] Furthermore, the detection height corresponding to the target device can be determined based on the conversion formula of altitude and atmospheric pressure, for example, it can be converted by the following formula:

[0059]

[0060] Among them, H is used to represent the detection height, P is used to represent the count value, and P0 is used to represent the standard atmospheric pressure, which can be 101.325 kPa.

[0061] In step 13, the position information is updated according to the detected height and displacement to obtain target position information, and the target position information of the target device at multiple tracking moments forms the tracking trajectory of the target device.

[0062] In this step, the detection height is used to indicate the positioning height of the current position determined based on the air pressure detection device, and the displacement can be used to indicate the positioning information of the current position determined based on the positioning system. The two can be combined to determine the height of the target device to update the posture information, ensure the accuracy of the updated target posture information, and achieve accurate trajectory tracking.

[0063] In the above technical scheme, the position and posture information of the target device at the current tracking moment is obtained to obtain the corresponding displacement of the target device, and at the same time, the detection height corresponding to the target device is determined based on the count value of the air pressure detection device at the same position as the target device, so that the height information of the target setting position can be comprehensively determined in combination with the data of the positioning system of the target device and the air pressure detection device, and the position and posture information of the target device is corrected based on the data of the air pressure detection device to improve the accuracy of the obtained target position and posture information. For example, in a closed elevator scenario, due to the unchanged environmental image, it is difficult to deviate or fail to locate during the elevator ride. Based on the method provided by the present disclosure, accurate positioning can be performed in the scenario of moving in the elevator, avoiding the loss of trajectory tracking due to the unchanged environmental image in the closed scene in the real world, broadening the application scenario of the trajectory tracking method, and at the same time, it can also improve the accuracy of the tracking trajectory and enhance the user experience.

[0064] In a possible embodiment, the updating of the posture information according to the detected height and the displacement to obtain the target posture information may include:

[0065] Get the base height of the origin of the coordinate system corresponding to the pose information.

[0066] When the target device is at the origin, a corresponding count value can be obtained based on the air pressure detection device, and the height corresponding to the count value, that is, the base height of the origin, can be determined. The conversion between the air pressure value and the height can be converted by the formula described above, which will not be repeated here.

[0067] Determine the difference between the detected height and the base height as a height difference;

[0068] Determining a displacement component of the target device in a vertical direction according to the displacement amount;

[0069] The posture information is updated according to the height difference and the displacement component.

[0070] Among them, as in the coordinate system example described above, the parameter value of the Y-axis corresponding to the displacement parameter of the posture information can be used as the displacement component of the target device in the vertical direction. The displacement component is used to represent the change in the current position compared to the origin in the vertical direction. The change in height, that is, the height difference, can be determined based on the detected height and the base height, so that the height difference and the displacement component can be compared on the same basis.

[0071] Therefore, the height difference value can represent the height change of the target device determined based on the air pressure detection device, and the displacement component can represent the height change of the target device determined based on the positioning system of the target device. The accurate height of the target device can be determined by combining the two, thereby improving the accuracy of the determined height value and providing accurate data support for updating the posture information.

[0072] As an example, the example manner of updating the posture information according to the height difference value and the displacement component includes:

[0073] If the absolute value of the difference between the height difference and the displacement component is greater than a preset threshold, the displacement component is updated to the height difference to update the posture information.

[0074] Let the base height be H0 and the detection height be H1, then the height difference H2 = H1-H0;

[0075] The displacement component is expressed as H3, then:

[0076] |H3-H2|>α, then the value of H3 is changed to H2.

[0077] Here, α is used to represent a preset threshold value, which can be described according to the actual application scenario. For example, in a closed elevator scenario, it can be set according to the height of the floor, such as the height of half a floor or the height of a floor.

[0078] If the absolute value of the difference between the height difference and the displacement component is less than or equal to a preset threshold, it means that the difference between the two is small. When updating the posture information, the displacement component can be directly retained to obtain the target posture information.

[0079] Through the above technical solution, in order to avoid errors introduced by frequent updates, when the gap between the height difference obtained by the air pressure detection device and the displacement component determined based on the posture information is too large, the displacement component in the posture information can be updated to ensure the continuity and consistency of the posture information during the trajectory tracking process, while ensuring the accuracy of the posture information.

[0080] In a possible embodiment, the exemplary implementation method of acquiring the position and posture information of the target device at the current tracking moment may include:

[0081] Obtain the tracking image corresponding to the target device at the current tracking moment.

[0082] The tracking image may be acquired by a camera installed on the target device, and the camera may be a monocular camera or a binocular camera.

[0083] Performing feature point matching on the tracking image to obtain image features;

[0084] The pose is estimated based on the image features to obtain the first pose information corresponding to the target device.

[0085] Among them, feature points can be extracted for each frame of tracking image, and then the feature points of adjacent tracking images can be matched to determine the consistent feature points in adjacent tracking images, that is, image features. Afterwards, the displacement and posture of the target device can be determined based on the changes between the matching consistent feature points, that is, the first posture information is obtained. Among them, the above process can be implemented based on SLAM (Simultaneous Localization and Mapping) technology, which will not be repeated here.

[0086] Acquire IMU data corresponding to the target device, and determine second posture information corresponding to the target device according to the IMU data.

[0087] Among them, IMU (Inertial Measurement Unit) data can be obtained based on the inertial sensor detection installed in the target device. The IMU can include an accelerometer and a gyroscope sensor, which are used to detect acceleration and angular velocity to indicate the direction and intensity of movement. Then, the attitude and displacement of the target device can be calculated based on the data detected, that is, the second posture information is obtained. The method of calculating and obtaining the posture information based on the IMU data can be determined based on the common calculation method in the art, which will not be repeated here.

[0088] The first posture information and the second posture information are fused to obtain the posture information.

[0089] As an example, the first pose information and the second pose information can be fused through a Kalman filter, such as through an MSCKF (Multi-State Constraint Kalman Filter) algorithm, which is a filtering-based VIO (Visual Inertial Odometry) algorithm and will not be described in detail here.

[0090] Therefore, through the above technical solution, the target device can be comprehensively positioned based on the visual image and IMU data, the corresponding position and posture information of the target device can be obtained, and the accuracy and stability of the positioning of the target device can be improved, thereby ensuring the stability and effectiveness of trajectory tracking.

[0091] In a possible embodiment, when determining the position and posture information, loop detection can also be performed based on the existing map data, so as to further improve the accuracy of the fused position and posture information. This can be achieved based on the loop detection algorithm in the SLAM technology.

[0092] In a possible embodiment, before the step of obtaining the count value of the air pressure detection device at the same position as the target device, the method further includes:

[0093] Get the tracking image of the target device at the current tracking moment;

[0094] Determining a tracking mode corresponding to the target device according to the tracking image;

[0095] If the tracking mode is the calibration tracking mode, the step of acquiring the count value of the air pressure detection device at the same position as the target device is performed.

[0096] Among them, the method of obtaining the tracking image has been described in detail above and will not be repeated here. As an example, determining the tracking mode corresponding to the target device based on the tracking image may include: performing scene recognition on the tracking image, and when the recognized scene is a preset correction scene, determining that the tracking mode corresponding to the target device is the correction tracking mode. For example, scene recognition can be performed by pre-training a scene recognition model. For example, the preset correction scene can be an upright elevator scene. The scene recognition model can be trained using images of the upright elevator scene and images of other scenes, so that the scene recognition model can identify whether the tracking image corresponds to the upright elevator scene. The training method can be based on the general training method of the neural network model in this field.

[0097] When it is determined that the tracking mode of the target device is the correction tracking mode, it means that at the current tracking moment, due to the requirements of the scene in which the target device is located, it needs to be assisted in correction. At this time, the count value of the air pressure detection device at the same position as the target device can be obtained, so as to assist in positioning it based on the air pressure detection device, fit the actual application scenario, and improve the accuracy and scope of application of the trajectory tracking method.

[0098] In a possible embodiment, before the step of obtaining the count value of the air pressure detection device at the same position as the target device, the method may further include:

[0099] In response to detecting the target gesture operation, determining that the tracking mode corresponding to the target device is a correction tracking mode.

[0100] As an example, the target gesture operation is obtained based on image recognition captured by the target device, or based on the user's operation on the target device. For example, the user can make a target gesture operation within the image capture range of the target device, and the target gesture operation is used to set the tracking mode of the target device to a correction tracking mode, so that it can be determined whether the target gesture operation is included by performing gesture recognition on the image captured by the target device. For another example, the user can set the tracking mode corresponding to the target device to a correction tracking mode by performing a target gesture operation on the target device, such as performing a double-click operation on the target area on the target device. The specific target gesture operation can be set by default or customized by the user, so as to improve the diversity and personalization of the interaction of the target device.

[0101] In case the tracking mode is the correction tracking mode, the step of acquiring the count value of the air pressure detection device at the same position as the target device is performed.

[0102] Therefore, through the above technical solution, when the user determines that auxiliary correction is needed during the trajectory tracking process, the corresponding tracking mode of the target device can be set through the corresponding target gesture operation to achieve real-time and accurate tracking of the running trajectory, which meets the user's usage needs and improves the user experience and interaction diversity.

[0103] Based on the same inventive concept, the present disclosure also provides a trajectory tracking device, such as Figure 2 As shown, the device 10 comprises:

[0104] The first acquisition module 100 is configured to acquire the position information of the target device at the current tracking moment, wherein the position information includes the displacement corresponding to the target device;

[0105] The second acquisition module 200 is configured to acquire a count value of an air pressure detection device at the same position as the target device, and determine a detection height corresponding to the target device according to the count value;

[0106] The processing module 300 is configured to update the posture information according to the detected height and the displacement to obtain target posture information, and the target posture information of the target device at multiple tracking moments forms a tracking trajectory of the target device.

[0107] Optionally, the processing module includes:

[0108] A first acquisition submodule is configured to acquire a basic height of an origin of a coordinate system corresponding to the posture information;

[0109] A first determining submodule is configured to determine a difference between the detected height and the base height as a height difference;

[0110] A second determining submodule is configured to determine a displacement component of the target device in a vertical direction according to the displacement amount;

[0111] The updating submodule is configured to update the posture information according to the height difference value and the displacement component.

[0112] Optionally, the updating submodule is further used for:

[0113] If the absolute value of the difference between the height difference and the displacement component is greater than a preset threshold, the displacement component is updated to the height difference to update the posture information.

[0114] Optionally, the first acquisition module includes:

[0115] A second acquisition submodule is configured to acquire a tracking image corresponding to the target device at a current tracking moment;

[0116] A matching submodule is configured to perform feature point matching on the tracking image to obtain image features;

[0117] A first processing submodule is configured to perform posture estimation based on the image features to obtain first posture information corresponding to the target device;

[0118] A second acquisition submodule is configured to acquire IMU data corresponding to the target device, and determine second posture information corresponding to the target device according to the IMU data;

[0119] The second processing submodule is configured to fuse the first posture information and the second posture information to obtain the posture information.

[0120] Optionally, the device further comprises:

[0121] A second acquisition module is configured to acquire a tracking image of the target device at a current tracking moment before the second acquisition module acquires a count value of an air pressure detection device at the same position as the target device;

[0122] The first determination module is configured to determine the tracking mode corresponding to the target device according to the tracking image, and if the tracking mode is a correction tracking mode, trigger the second acquisition module to acquire the count value of the air pressure detection device at the same position as the target device.

[0123] Optionally, the device further comprises:

[0124] A second determination module is used to determine that the tracking mode corresponding to the target device is a correction tracking mode in response to detecting a target gesture operation before the second acquisition module acquires the count value of the air pressure detection device at the same position as the target device, and trigger the second acquisition module to acquire the count value of the air pressure detection device at the same position as the target device when the tracking mode is the correction tracking mode.

[0125] Optionally, the target gesture operation is obtained based on image recognition collected by the target device, or based on an operation of a user on the target device.

[0126] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0127] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and the program instructions, when executed by a processor, implement the steps of the trajectory tracking method provided by the present disclosure.

[0128] Figure 3 8 is a block diagram of a device 800 for trajectory tracking according to an exemplary embodiment. For example, the device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0129] Reference Figure 3 , the device 800 may include one or more of the following components: a processing component 802 , a memory 804 , a power component 806 , a multimedia component 808 , an audio component 810 , an input / output interface 812 , a sensor component 814 , and a communication component 816 .

[0130] The processing component 802 generally controls the overall operation of the device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0131] The memory 804 is configured to store various types of data to support operations on the device 800. Examples of such data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0132] The power supply component 806 provides power to the various components of the device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 800.

[0133] The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0134] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the device 800 is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 804 or sent via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

[0135] The input / output interface 812 provides an interface between the processing component 802 and the peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0136] The sensor assembly 814 includes one or more sensors for providing various aspects of the status assessment of the device 800. For example, the sensor assembly 814 can detect the open / closed state of the device 800, the relative positioning of components, such as the display and keypad of the device 800, and the sensor assembly 814 can also detect the position change of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration / deceleration of the device 800, and the temperature change of the device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0137] The communication component 816 is configured to facilitate wired or wireless communication between the device 800 and other devices. The device 800 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0138] In an exemplary embodiment, the apparatus 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described trajectory tracking method.

[0139] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, and the instructions can be executed by the processor 820 of the device 800 to complete the above-mentioned trajectory tracking method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0140] In addition to being an independent electronic device, the above-mentioned device can also be a part of an independent electronic device. For example, in one embodiment, the device can be an integrated circuit (IC) or a chip, wherein the integrated circuit can be an IC or a collection of multiple ICs; the chip can include but is not limited to the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), SOC (System on Chip, SoC, system on chip or system-level chip), etc. The above-mentioned integrated circuit or chip can be used to execute executable instructions (or codes) to implement the above-mentioned trajectory tracking method. The executable instructions can be stored in the integrated circuit or chip, or can be obtained from other devices or equipment, such as the integrated circuit or chip including a processor, a memory, and an interface for communicating with other devices. The executable instruction may be stored in the memory, and when the executable instruction is executed by the processor, the above-mentioned trajectory tracking method is implemented; alternatively, the integrated circuit or chip may receive the executable instruction through the interface and transmit it to the processor for execution, so as to implement the above-mentioned trajectory tracking method.

[0141] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above trajectory tracking method when executed by the programmable device.

[0142] Figure 4 1 is a block diagram of a device 1900 for trajectory tracking according to an exemplary embodiment. For example, the device 1900 may be provided as a server. Figure 4 , the apparatus 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by a memory 1932 for storing instructions executable by the processing component 1922, such as an application. The application stored in the memory 1932 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute instructions to perform the above-mentioned trajectory tracking method.

[0143] The device 1900 may also include a power supply component 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to a network, and an input / output interface 1958. The device 1900 may operate based on an operating system stored in the memory 1932, such as Windows Server 2000. TM , Mac OS X TM , Unix TM , Linux TM , FreeBSD TM or similar.

[0144] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0145] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A trajectory tracking method, characterized in that: include: Obtaining the position information of the target device at the current tracking moment, wherein the position information includes the displacement corresponding to the target device; Obtaining a count value of an air pressure detection device located at the same position as the target device, and determining a detection height corresponding to the target device according to the count value; The position information is updated according to the detected height and the displacement to obtain target position information, and the target position information of the target device at multiple tracking moments forms a tracking trajectory of the target device.

2. The method according to claim 1, characterized in that The updating of the position information according to the detected height and the displacement to obtain the target position information includes: Obtain the base height of the origin of the coordinate system corresponding to the posture information; Determine the difference between the detected height and the base height as a height difference; Determining a displacement component of the target device in a vertical direction according to the displacement amount; The posture information is updated according to the height difference and the displacement component.

3. The method according to claim 2, characterized in that The updating of the posture information according to the height difference and the displacement component includes: If the absolute value of the difference between the height difference and the displacement component is greater than a preset threshold, the displacement component is updated to the height difference to update the posture information.

4. The method according to claim 1, characterized in that The obtaining of the position information of the target device at the current tracking moment includes: Obtaining a tracking image corresponding to the target device at the current tracking moment; Performing feature point matching on the tracking image to obtain image features; Performing pose estimation based on the image features to obtain first pose information corresponding to the target device; Acquire IMU data corresponding to the target device, and determine second posture information corresponding to the target device according to the IMU data; The first posture information and the second posture information are fused to obtain the posture information.

5. The method according to claim 1, characterized in that Before the step of obtaining the count value of the air pressure detection device located at the same position as the target device, the method further includes: Get the tracking image of the target device at the current tracking moment; Determining a tracking mode corresponding to the target device according to the tracking image; If the tracking mode is the calibration tracking mode, the step of acquiring the count value of the air pressure detection device at the same position as the target device is performed.

6. The method according to claim 1, characterized in that Before the step of obtaining the count value of the air pressure detection device located at the same position as the target device, the method further includes: In response to detecting the target gesture operation, determining that the tracking mode corresponding to the target device is a correction tracking mode; In case the tracking mode is the correction tracking mode, the step of acquiring the count value of the air pressure detection device at the same position as the target device is performed.

7. The method according to claim 6, characterized in that The target gesture operation is obtained based on image recognition collected by the target device, or based on an operation of a user on the target device.

8. A trajectory tracking device, characterized in that: include: A first acquisition module is configured to acquire the position and posture information of the target device at the current tracking moment, wherein the position and posture information includes a displacement corresponding to the target device; A second acquisition module is configured to acquire a count value of an air pressure detection device located at the same position as the target device, and determine a detection height corresponding to the target device according to the count value; The processing module is configured to update the posture information according to the detected height and the displacement to obtain target posture information, and the target posture information of the target device at multiple tracking moments forms a tracking trajectory of the target device.

9. A trajectory tracking device, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Obtaining the position information of the target device at the current tracking moment, wherein the position information includes the displacement corresponding to the target device; Obtaining a count value of an air pressure detection device located at the same position as the target device, and determining a detection height corresponding to the target device according to the count value; The position information is updated according to the detected height and the displacement to obtain target position information, and the target position information of the target device at multiple tracking moments forms a tracking trajectory of the target device.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.

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