Indoor positioning method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an indoor positioning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a parking space number image shot by a visual device of the electronic equipment at a current position; determining position information of a target lane where the electronic equipment is located according to a parking space map and a parking space number image of an area where the electronic equipment is located; and determining the current position information of the electronic equipment according to the pose information of the visual device and the target lane position information. The target lane where the electronic equipment is located is positioned through the parking space number and the parking space map, then the current position information of the electronic equipment can be determined according to the pose information of the visual device shooting the parking space number and the position information of the target lane, indoor positioning of the electronic equipment is achieved, the positioning precision is high, and the user experience is improved. A positioning device does not need to be additionally laid indoors, and the positioning cost is low.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of positioning technology, and in particular to an indoor positioning method, device, electronic device and storage medium. Background Art

[0002] Driving equipment usually uses GPS (Global Positioning System) positioning signals to determine the current position of the equipment. However, in an indoor environment where the GPS signal is weakened or no GPS signal is received, positioning cannot be performed.

[0003] Currently, in indoor environments, positioning is usually based on inertial measurement devices, which have poor positioning accuracy; or indoor near-field communication devices are used for positioning, which requires laying near-field positioning equipment indoors, which is costly. Summary of the invention

[0004] In view of this, embodiments of the present application provide an indoor positioning method, device, electronic device, and storage medium to at least partially solve the above problems.

[0005] According to the first aspect of an embodiment of the present application, an indoor positioning method is provided, including: obtaining a parking space number image taken by a visual device of an electronic device at a current position; determining target lane position information of the electronic device based on a parking space map and the parking space number image of an area where the electronic device is located; and determining the current position information of the electronic device based on the posture information of the visual device and the target lane position information.

[0006] According to the second aspect of the embodiment of the present application, an indoor positioning device is provided, comprising an image acquisition unit, a first positioning unit and a second positioning unit. The image acquisition unit is used to acquire a parking space number image taken by a visual device of the electronic device at the current position; the first positioning unit is used to determine the target lane position information where the electronic device is located based on the parking space map and the parking space number image of the area where the electronic device is located; the second positioning unit is used to determine the current position information of the electronic device based on the posture information of the visual device and the target lane position information.

[0007] According to the third aspect of the embodiments of the present application, there is provided an electronic device, comprising: a visual device, a processor, a memory, a communication interface and a communication bus, wherein the visual device, the processor, the memory and the communication interface communicate with each other via the communication bus; the visual device is used to acquire image information; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the methods of the embodiments of the present application.

[0008] According to a fourth aspect of the embodiments of the present application, a computer storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the methods of the embodiments of the present application are implemented.

[0009] According to the indoor positioning method, device, electronic device and storage medium provided by the embodiments of the present application, the parking space number image taken by the visual device of the electronic device at the current position is obtained; the target lane position information where the electronic device is located is determined based on the parking space map and the parking space number image of the area where the electronic device is located; the current position information of the electronic device is determined based on the posture information of the visual device and the target lane position information. The target lane where the electronic device is located is located by the parking space number and the parking space map, and then the current position information of the electronic device can be determined based on the posture information of the visual device that took the parking space number and the target lane position information, thereby realizing the indoor positioning of the electronic device, with high positioning accuracy, and no need to add positioning devices indoors, so the positioning cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0011] Figure 1 A schematic diagram of a flow chart of an indoor positioning method according to an exemplary embodiment of the present application;

[0012] Figure 2 A flowchart of an indoor positioning method according to another exemplary embodiment of the present application is shown;

[0013] Figure 3A A schematic diagram of parking space number image recognition according to an exemplary embodiment of the present application;

[0014] Figure 3B and 3C A schematic diagram of parking space number recognition reasoning in an exemplary embodiment of the present application;

[0015] Figures 3D to 3F A schematic diagram of a process for determining a target lane position in an exemplary embodiment of the present application;

[0016] Figure 3G A schematic diagram of determining relative position information of an electronic device and a target parking space in an exemplary embodiment of the present application;

[0017] Figure 3H A schematic diagram of determining relative position information between an electronic device and a target parking space in another exemplary embodiment of the present application;

[0018] Fig. 3I A schematic diagram of determining the current position of an electronic device in an exemplary embodiment of the present application;

[0019] Figure 4 It is a structural block diagram of an indoor positioning device according to an exemplary embodiment of the present application;

[0020] Figure 5 It is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0022] The specific implementation of the embodiment of the present application is further explained below in conjunction with the accompanying drawings of the embodiment of the present application.

[0023] The embodiments of the present application provide an indoor positioning method, which is described below through multiple embodiments.

[0024] Figure 1 This is a flow chart of an indoor positioning method according to an exemplary embodiment of the present application. As shown in the figure, this embodiment mainly includes the following steps:

[0025] S102: Acquire a parking space number image captured by a visual device of the electronic device at the current position.

[0026] Exemplarily, the application scenario of the method of this embodiment can be an indoor area with poor satellite positioning signals such as an indoor parking lot, and the indoor area is arranged with parking space numbers. The electronic device can be a driving device or a mobile electronic device. The driving device can include an automatic driving device or an ordinary driving device, etc. The mobile electronic device can include a mobile phone or a tablet computer, etc., and this embodiment does not limit this. The visual device can include a camera. When the electronic device moves on a lane in an indoor parking lot, the environmental video around the electronic device can be captured by the visual device configured therein. The environmental video can include an image frame of the parking space number on the ground around the electronic device, and the parking space number image can be obtained from the environmental video by an image recognition algorithm. Usually, 0 to 6 parking space numbers can be captured. If 0 parking space numbers are captured, the user is prompted to move to the vicinity of the parking space number until the parking space number is captured and recognized.

[0027] S104: Determine the target lane location information where the electronic device is located according to the parking space map and the parking space number image of the area where the electronic device is located.

[0028] For example, the area where the electronic device is located may be an indoor parking lot, and a parking space map of the indoor parking lot may be obtained from the cloud, and the parking space map may include information such as parking space number, parking space position, lane position, etc. Based on the parking space number image captured by the electronic device in step S102, the parking space position corresponding to the parking space number image in the parking space map and the relative position relationship between the parking space and the electronic device may be determined, and then based on the position relationship between the parking space position and the lane position in the parking space map, the target lane position information where the electronic device is located may be determined.

[0029] S106. Determine the current position information of the electronic device based on the posture information of the visual device and the target lane position information.

[0030] Exemplarily, the posture information of the visual device is obtained, and the posture information may include the relative posture information of the visual device relative to the electronic device and the position information of the visual device. The relative position information between the electronic device and the parking space position captured by the visual device of the electronic device can be calculated, and then combined with the target lane position information of the electronic device determined in step S104, the specific position of the electronic device in the target lane, that is, the current position information of the electronic device, can be determined.

[0031] According to the indoor positioning method provided by the embodiment of the present application, the parking space number image taken by the visual device of the electronic device at the current position is obtained; the target lane position information where the electronic device is located is determined based on the parking space map and the parking space number image of the area where the electronic device is located; the current position information of the electronic device is determined based on the posture information of the visual device and the target lane position information. This method locates the target lane where the electronic device is located by the parking space number and the parking space map, and then determines the current position information of the electronic device based on the posture information of the visual device that photographed the parking space number and the target lane position information. There is no need to modify the indoor site or collect high-precision indoor maps. It only relies on the visual device of the electronic device itself, in conjunction with the standard-definition indoor parking space map, to achieve precise indoor positioning of the electronic device, with high positioning accuracy and low positioning cost.

[0032] Figure 2 This is a flow chart of an indoor positioning method according to an exemplary embodiment of the present application. As shown in the figure, this embodiment mainly shows a specific implementation scheme of step S104 of the above embodiment, and this embodiment mainly includes the following steps:

[0033] S202: Acquire a parking space number image captured by a visual device of the electronic device at the current position.

[0034] It should be noted that step S202 can be implemented with reference to the specific implementation of step S102 above, which will not be described in detail here.

[0035] S204: Determine the target parking space position corresponding to the parking space number image according to the parking space map and the parking space number image of the area where the electronic device is located.

[0036] Exemplarily, graphic image recognition is performed on the parking space number image to determine the parking space number in the image. The target parking space position can be obtained by matching the parking space number with the parking space number in the parking map. Among them, there may be multiple parking space numbers identified by graphic images, and some of them cannot be accurately identified. For example, the parking space number itself is incomplete, or partially covered, or partially in a dark environment, and the video frame is blurry. In this case, interpolation compensation and digital analysis and inference can be performed; if the recognized value is fuzzy, feature analysis can be performed through the preset parking space number feature library to perform fuzzy recognition and result inference; or multiple frames of images can be compared and analyzed, and clearer frame images can be selected for recognition and verification. If there are incomplete situations such as covered values, feature extraction and comparison can be performed through the preset parking space number feature library to infer reasonable results, refer to Figure 3A The left side of the figure shows the incomplete image obtained by recognition, and the right side shows the completion of the incomplete image based on the parking space number feature library, which can obtain the number 4.

[0037] In an optional implementation, a target parking space position corresponding to the parking space number image is determined based on a parking space map and a parking space number image of an area where the electronic device is located, including: determining one or more candidate parking space positions based on the target parking space number in the parking space number image and the parking space map; when there is one candidate parking space position, determining the candidate parking space position as the target parking space position; when there are multiple candidate parking space positions, determining the target parking space position from multiple candidate parking space positions based on the recognition accuracy of the parking space number corresponding to the candidate parking space position and the distance between the candidate parking space position and the electronic device.

[0038] Exemplarily, the parking space number image is subjected to graphic image recognition, and the parking space number in the image can be identified as one or more target parking space numbers. According to the corresponding target parking space number in the parking space map, one or more candidate parking space positions can be determined. Among them, when the candidate parking space position includes one, the candidate parking space position is used as the target parking space position. When the candidate parking space position includes multiple, the target parking space position can be determined from multiple candidate parking space positions according to the recognition accuracy of the parking space number corresponding to the candidate parking space position and the distance between the candidate parking space position and the electronic device. For example, the parking space number recognition accuracy of multiple candidate parking space positions can be sorted, and the distance between the multiple candidate parking space positions and the electronic device can be sorted, and a candidate parking space position corresponding to the target parking space number with a higher parking space number recognition accuracy and a closer distance to the electronic device can be comprehensively selected as the target parking space position. For example, the parking space number recognition accuracy and the parking space position and the electronic device distance can be set respectively. The candidate parking space position corresponding to the target parking space number with the highest comprehensive score is determined as the target parking space position.

[0039] In this implementation, the target parking space position is determined by the target parking space number in the parking space number image and the parking space map, so that the electronic device can be preliminarily located near the target parking space position. The positioning method is simple, efficient, and has a high accuracy rate.

[0040] In an optional implementation, one or more candidate parking space positions are determined based on the target parking space number in the parking space number image and the parking space map, including: performing image recognition on the parking space number image to determine a target parking space number or multiple candidate parking space numbers in the parking space number image; determining multiple target parking space numbers from multiple candidate parking space numbers based on the numbering sequence information and terrain information of the parking spaces in the parking space map; and determining one or more candidate parking space positions corresponding to the target parking space number based on the parking space map.

[0041] For example, image recognition is performed on the parking space number image. If the parking space number in the image is one, the parking space number is used as the target parking space number. If multiple parking space numbers are identified, they are used as candidate parking space numbers. Among them, there may be fuzzy numbers in the candidate parking space numbers. According to the number sequence information and terrain information of the parking spaces in the parking space map, multiple target parking space numbers can be determined from the multiple candidate parking space numbers. Then, one or more candidate parking space positions corresponding to the target parking space number are determined from the parking space map.

[0042] Specifically, based on the parking space number sequence information and terrain information in the parking space map, the parking space numbers and their arrangement distribution in the parking space map can be known, so the distribution and values ​​of the parking space numbers around a parking space number can be determined. Therefore, the candidate parking space number identified and analyzed by the camera can be substituted into the parking space map to check whether it matches the parking space number in the parking space map, thereby determining the target parking space number. For example, referring to Figure 3B , electronic equipment (i.e. Figure 3B The five-pointed star indicates) move to Figure 3B In the middle position, the camera recognized three adjacent parking space number values ​​of "20, 19, X". The accuracy of 20 and 19 is above 99.999%, which is considered completely reliable. X has two possibilities: 18 and 13. By matching 20 and 19 with the parking map, the location of these two parking space numbers in the parking map can be identified, and the parking space numbers near them are 18 and 17, while 13 is far away from 20 and 19 in the parking map, so it can be inferred that X is 18. Substituting the parking space number values ​​of 20, 19 and 18 and the terrain relationship under image recognition of the three into the parking map for verification, it can be determined that the parking space number sequence is unique on the parking map, and the terrain relationship of image recognition matches the terrain information in the parking map. It can be concluded that the image recognition results of 20 and 19 are accurate, and the inference result of X=18 is accurate.

[0043] In another case, if the values ​​of the parking space numbers recognized by the camera are not clear, multiple target parking space numbers can be determined from multiple candidate parking space numbers based on the parking space number sequence information in the parking space map, the orientation information of the electronic device, and the terrain information. Figure 3C, the electronic device recognizes that there are 3 adjacent parking spaces (X, Y, Z) within 5 meters on the left, among which the possible values ​​of X are 43, 48 or 73; the possible values ​​of Y are 44 or 47; the possible values ​​of Z are 45 or 75. Determine the orientation of the electronic device, for example, the orientation is due south. First, the three possible values ​​of X are used as matching base points to identify that there are 3 possible areas on the parking map, namely A, B, and C. Among them, the lane next to the parking space number 43 in area A is north-south oriented, and the adjacent parking spaces are numbered 42, 44 and 45; the lane next to the parking space number 48 in area B is north-south oriented, and the adjacent parking spaces are numbered 47, 49, 50 and the wall; the parking space number 73 in area C has no adjacent parking space number, and the lane next to it is east-west oriented. Therefore, according to the orientation of the lane, the orientation of the electronic device and the adjacent parking space numbers, area C can be excluded first, and the possible value of Z=75 can be excluded. Substitute the possible values ​​of Y and Z into Area A and Area B for verification. According to the adjacent relationship of the parking space numbers and the possible range of Z values ​​of only 45, Area A can be determined to be the only possible correct result. Substitute Y=44 or 47 and Z=45 or 75 into verification, and it can be known that Area A is the only correct result. Therefore, we can get X=43, Y=44, Z=45, and the moving direction of the electronic device is north-south.

[0044] In this implementation, by performing image recognition on the parking space number image, a target parking space number or multiple candidate parking space numbers in the parking space number image is determined; according to the number of recognized parking space numbers, multiple target parking space numbers can be further determined from multiple candidate parking space numbers based on the number sequence information and terrain information of the parking space in the parking space map. This can avoid the situation where the image recognition result is not accurate due to unclear parking space number images or incomplete numbers, which ultimately leads to poor positioning accuracy, improve the accuracy of parking space number recognition, and then improve the accuracy of one or more candidate parking space positions corresponding to the target parking space number.

[0045] S206: According to the target parking space position, determine one or more lane positions adjacent to the target parking space position from the parking space map.

[0046] Exemplarily, the target parking space position is used as the first positioning position of the electronic device, and then the lanes adjacent to the target parking space position are determined from the parking space map according to the target parking space position, which may be 1 or more lanes, and the multiple lanes may include 2, 3 or 4 lanes. It should be noted that the lanes adjacent to the target parking space position here include lanes located around the target parking space position and within a preset distance from the target parking space position. The preset distance can be flexibly set by those skilled in the art according to actual conditions, and this embodiment does not limit this.

[0047] S208: Determine the target lane position information where the electronic device is located according to the lane position.

[0048] Exemplarily, when the lane position includes one, the lane position is determined as the target lane position information; when the lane position includes multiple, the target lane position information is determined based on the posture information of the visual device, the orientation information of the electronic device and the lane position, and the positioning position of the electronic device is determined from the target parking space position to the road centerline position of the target lane position, completing the first deviation correction of the positioning position of the electronic device, and obtaining the second positioning position of the electronic device, which is the target lane position.

[0049] In an optional implementation, target lane position information of the electronic device is determined based on the lane position, including: when the lane position includes one, the target lane position information is determined based on the lane position; when the lane position includes multiple, the target lane position information is determined based on the posture information of the visual device, the orientation information of the electronic device and the lane position.

[0050] For example, if the lane position includes one, the lane position is determined as the target lane position, and the positioning position of the electronic device is determined to the lane center line of the target lane position, referring to Figure 3D , the positioning position of the electronic device is translated from the target parking space position to the target lane position (indicated by the moving position of the five-pointed star in the figure). Figure 3E and 3F , when the lane positions include multiple ones, the orientation of the target lane is determined according to the orientation information of the electronic device, and the target candidate lanes that meet the orientation can be screened out. If there is one, the position of the lane is determined to be the target lane position. If there are multiple lanes, the position information of the visual device relative to the electronic device in the position information of the visual device that photographed the target parking space position (for example, the visual device is located on the left or right side of the electronic device), and the orientation information of the electronic device, the target lane position information can be determined from multiple lane positions. For example, if the electronic device has multiple cameras, it is determined that the target parking space position appears in the camera on the right side of the electronic device, but not in the camera on the left side. Then, based on the orientation and lane position of the electronic device, the target lane position is determined, and the positioning position of the electronic device is moved to the target lane position (represented as the moving position of the five-pointed star in the figure). If the electronic device has only one camera, the deflection information when the camera photographs the target parking space position and the orientation of the electronic device can be identified by the gyroscope.

[0051] In this implementation, if the target parking space position includes one lane position, the lane position information is determined as the target lane position information. When the lane position includes multiple lane positions, the target lane position information is further determined based on the posture information of the visual device, the orientation information of the electronic device, and the lane position, so as to ensure that the target lane where the electronic device is located can be accurately obtained, thereby further accurately positioning the electronic device from the target parking space position to the target lane position, thereby improving the positioning accuracy.

[0052] In an optional implementation, the current position information of the electronic device is determined based on the posture information of the visual device and the target lane position information, including: determining the relative posture information between the electronic device and the target parking space position based on the posture information of the visual device; determining the current position information of the electronic device based on the relative posture information and the target lane position information.

[0053] Exemplarily, the relative posture information between the electronic device and the target parking space is calculated based on the posture information of the visual device that photographed the target parking space and the target parking space. The relative posture information may include the distance between the electronic device and the target parking space and the relative offset angle. Combined with the second positioning position of the electronic device, i.e., the target lane position information, the precise position information of the electronic device in the target lane, i.e., the current position information of the electronic device, can be determined. Thus, the positioning position of the electronic device can be determined from the target lane position to the current position, completing the second deviation correction of the positioning position of the electronic device and obtaining the current position information of the electronic device. Fig. 3I The moving position of the five-pointed star (representing electronic equipment) in the middle.

[0054] In this implementation, after locating the target lane where the electronic device is located, the relative posture information of the electronic device and the target parking space is determined based on the posture information of the visual device of the electronic device; then, based on the relative posture information and the target lane position information, the position of the electronic device in the target lane can be further corrected to determine the precise position of the electronic device in the target lane, and the current position information of the electronic device can be obtained, thereby realizing accurate positioning of the electronic device indoors.

[0055] In an optional implementation, the relative posture information of the electronic device and the parking space position is determined based on the posture information of the visual device, including: determining that there are one or more visual devices; when there is one visual device, obtaining the displacement sensor data of the electronic device, and determining the relative posture information of the electronic device and the target parking space position based on the posture information of the visual device and the displacement sensor data; when there are multiple visual devices, determining the relative posture information of the electronic device and the target parking space position based on the posture information of multiple visual devices.

[0056] Exemplarily, it is determined that the electronic device has one or more visual devices. If the electronic device has one visual device, the displacement sensor data of the electronic device is obtained, wherein the displacement sensor data may include accelerometer data, gyroscope data, etc. According to the posture information of the visual device and the displacement sensor data, the relative posture information of the electronic device and the target parking space position can be calculated by the dead reckoning (DR) method. Figure 3GIn the figure, 152, 153, and 154 represent parking space numbers, and h represents the height of the visual device from the ground. The electronic device has multiple visual devices. According to the posture information of the multiple visual devices and the target parking space position (or multiple candidate parking space positions), the relative postures between the multiple visual devices and the target parking space position (or multiple candidate parking space positions) are calculated respectively. Then, the relative posture information of the visual device and the electronic device obtained from the posture information of the multiple visual devices is combined to determine the relative posture information of the electronic device and the target parking space position. Figure 3H , wherein the electronic device has one visual device, wherein s represents the distance moved by the electronic device, and the relative position between the visual device and the target parking space position (or multiple candidate parking space positions) can be calculated based on the posture information of the visual device and the target parking space position (or multiple candidate parking space positions), and then the posture information of the electronic device can be inferred in combination with the displacement sensor data of the electronic device, so as to determine the relative posture information between the electronic device and the target parking space position.

[0057] In this implementation, for different numbers of visual devices configured in the electronic device, a corresponding method is used to determine the relative posture information between the electronic device and the target parking space position. This can ensure the accuracy of the calculated relative posture information, and make the application scope of this method wider, covering a wider range of electronic devices.

[0058] S210. Determine the current position information of the electronic device according to the posture information of the visual device and the target lane position information.

[0059] It should be noted that step S210 can be implemented with reference to the specific implementation of step S106 above, which will not be described in detail here.

[0060] In this embodiment, first, according to the parking space map and parking space number image of the area where the electronic device is located, the target parking space position corresponding to the parking space number image is determined, and the target parking space position is used as the preliminary positioning position. Then, according to the target parking space position, the target lane position information where the electronic device is located is determined from the parking space map, and the preliminary positioning position is corrected once using the target lane position information to obtain the second positioning position, i.e., the target lane position. Finally, according to the posture information of the visual device, the target lane position is corrected twice to obtain the current position information of the electronic device, thereby realizing the precise positioning of the electronic device indoors.

[0061] Figure 4 It is a structural block diagram of an indoor positioning device according to an exemplary embodiment of the present application.

[0062] As shown in the figure, the indoor positioning device 400 of this embodiment includes an image acquisition unit 402 , a first positioning unit 404 and a second positioning unit 406 .

[0063] The image acquisition unit 402 is used to acquire the parking space number image taken by the visual device of the electronic device at the current position; the first positioning unit 404 is used to determine the target lane position information where the electronic device is located according to the parking space map and the parking space number image of the area where the electronic device is located; the second positioning unit 406 is used to determine the current position information of the electronic device according to the posture information of the visual device and the target lane position information.

[0064] In an optional implementation, the first positioning unit 404 is also used to determine the target parking space position corresponding to the parking space number image based on the parking space map of the area where the electronic device is located and the parking space number image; based on the target parking space position, determine one or more lane positions adjacent to the target parking space position from the parking space map; based on the lane position, determine the target lane position information where the electronic device is located.

[0065] In an optional implementation, the first positioning unit 404 is also used to determine the target lane position information based on the lane position when the lane position includes one; when the lane position includes multiple, determine the target lane position information based on the posture information of the visual device, the orientation information of the electronic device and the lane position.

[0066] In an optional implementation, the second positioning unit 406 is also used to determine the relative posture information between the electronic device and the target parking space position based on the posture information of the visual device; and determine the current position information of the electronic device based on the relative posture information and the target lane position information.

[0067] In an optional implementation, the first positioning unit 404 is also used to determine whether there are one or more visual devices; when there is one visual device, the displacement sensor data of the electronic device is obtained, and the relative posture information between the electronic device and the target parking space is determined according to the posture information of the visual device and the displacement sensor data; when there are multiple visual devices, the relative posture information between the electronic device and the target parking space is determined according to the posture information of multiple visual devices.

[0068] In an optional implementation, the first positioning unit 404 is also used to determine one or more candidate parking space positions based on the target parking space number in the parking space number image and the parking space map; when the candidate parking space position includes one, determine the candidate parking space position as the target parking space position; when the candidate parking space position includes multiple, determine the target parking space position from the multiple candidate parking space positions based on the recognition accuracy of the parking space number corresponding to the candidate parking space position and the distance between the candidate parking space position and the electronic device.

[0069] In an optional implementation, the first positioning unit 404 is also used to perform image recognition on the parking space number image to determine a target parking space number or multiple candidate parking space numbers in the parking space number image; determine multiple target parking space numbers from multiple candidate parking space numbers based on the numbering sequence information and terrain information of the parking spaces in the parking space map; and determine one or more candidate parking space positions corresponding to the target parking space number based on the parking space map.

[0070] In addition, the indoor positioning device 400 of the embodiment of the present application can also be used to implement other steps in the aforementioned indoor positioning method embodiments, and has the beneficial effects of the corresponding method step embodiments, which will not be repeated here.

[0071] Reference Figure 5 , shows a schematic structural diagram of an electronic device according to another embodiment of the present invention. The specific embodiment of the present invention does not limit the specific implementation of the electronic device.

[0072] like Figure 5 As shown, the electronic device may include: a visual device 506 , a processor (processor) 501 , a memory (memory) 503 , a communication bus 504 , and a communication interface (Communications Interface) 505 .

[0073] in:

[0074] The visual position device 506 , the processor 501 , the memory 503 and the communication interface 505 communicate with each other via the communication bus 504 .

[0075] The visual device 506 is used to obtain image information.

[0076] The communication interface 505 is used to communicate with other electronic devices or servers.

[0077] The processor 501 is used to execute the program 502, and specifically can execute the steps of any indoor positioning method in the above embodiments.

[0078] Specifically, the program 502 may include program codes, which include computer operation instructions.

[0079] The processor 501 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0080] The memory 503 is used to store the program 502. The memory 503 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0081] Program 502 can be specifically used to enable processor 501 to execute to implement the steps of any indoor positioning method described in the embodiment. The specific implementation of each step in program 502 can refer to the corresponding description in the steps and units executed by any indoor positioning method in the above steps, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the aforementioned method embodiment.

[0082] The exemplary embodiments of the present application also provide a computer storage medium on which a computer program is stored. When the program is executed by a processor, the methods of the various embodiments of the present application are implemented.

[0083] The above-described method according to an embodiment of the present invention may be implemented in hardware, firmware, or as software or computer code that may be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded over a network and will be stored in a local recording medium, so that the method described herein may be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that a computer, processor, microprocessor controller, or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, processor, or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the method shown herein.

[0084] Thus far, specific embodiments of the present invention have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired results. Additionally, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing may be advantageous.

[0085] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0086] In the description of the present invention, the terms "first" and "second" are only used to facilitate the description of different components or names, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0087] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0088] It should be noted that although the specific embodiments of the present invention are described in detail in conjunction with the accompanying drawings, it should not be understood as limiting the scope of protection of the present invention. Within the scope described in the claims, various modifications and variations that can be made by those skilled in the art without creative work still belong to the scope of protection of the present invention.

[0089] The examples of the embodiments of the present invention are intended to concisely illustrate the technical features of the embodiments of the present invention so that those skilled in the art can intuitively understand the technical features of the embodiments of the present invention, and are not intended to be improper limitations of the embodiments of the present invention.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An indoor positioning method, characterized in that: include: Acquire a parking space number image captured by a visual device of the electronic device at the current position; Determine the target lane location information where the electronic device is located according to the parking space map of the area where the electronic device is located and the parking space number image; The current position information of the electronic device is determined according to the posture information of the visual device and the target lane position information.

2. The method according to claim 1, characterized in that The determining the target lane position information where the electronic device is located according to the parking space map of the area where the electronic device is located and the parking space number image includes: Determine the target parking space position corresponding to the parking space number image according to the parking space map of the area where the electronic device is located and the parking space number image; According to the target parking space position, determining one or more lane positions adjacent to the target parking space position from the parking space map; According to the lane position, target lane position information of the electronic device is determined.

3. The method according to claim 2, characterized in that The determining, according to the lane position, the target lane position information where the electronic device is located includes: When the lane position includes one, determining the target lane position information according to the lane position; When the lane position includes multiple lane positions, the target lane position information is determined based on the posture information of the visual device, the orientation information of the electronic device and the lane position.

4. The method according to claim 3, characterized in that The determining the current position information of the electronic device according to the position information of the visual device and the target lane position information includes: Determining relative position information between the electronic device and the target parking space according to the position information of the visual device; The current position information of the electronic device is determined according to the relative position information and the target lane position information.

5. The method according to claim 4, characterized in that Determining relative position information of the electronic device and the parking space according to the position information of the visual device includes: determining that the visual device is one or more; When there is only one visual device, obtaining displacement sensor data of the electronic device, and determining relative posture information between the electronic device and the target parking space according to the posture information of the visual device and the displacement sensor data; When there are multiple visual devices, the relative posture information between the electronic device and the target parking space is determined based on the posture information of the multiple visual devices.

6. The method according to claim 2, characterized in that Determining a target parking space position corresponding to the parking space number image based on a parking space map of an area where the electronic device is located and the parking space number image includes: Determine one or more candidate parking space positions according to the target parking space number in the parking space number image and the parking space map; When the candidate parking space position includes one, determining the candidate parking space position as the target parking space position; When the candidate parking space positions include multiple ones, the target parking space position is determined from the multiple candidate parking space positions according to the recognition accuracy of the parking space numbers corresponding to the candidate parking space positions and the distance between the candidate parking space positions and the electronic device.

7. The method according to claim 6, characterized in that The step of determining one or more candidate parking space positions according to the target parking space number in the parking space number image and the parking space map includes: Performing image recognition on the parking space number image to determine a target parking space number or multiple candidate parking space numbers in the parking space number image; Determine a plurality of target parking space numbers from a plurality of candidate parking space numbers according to the numbering sequence information of the parking spaces in the parking space map and the terrain information; According to the parking space map, one or more candidate parking space positions corresponding to the target parking space number are determined.

8. An indoor positioning device, characterized in that: include: An image acquisition unit, used to acquire an image of a parking space number taken by a visual device of the electronic device at a current position; A first positioning unit, configured to determine the target lane position information where the electronic device is located according to the parking space map of the area where the electronic device is located and the parking space number image; The second positioning unit is used to determine the current position information of the electronic device according to the posture information of the visual device and the target lane position information.

9. An electronic device, characterized in that: include: A visual device, a processor, a memory, a communication interface and a communication bus, wherein the visual device, the processor, the memory and the communication interface communicate with each other via the communication bus; The visual device is used to obtain image information; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method according to any one of claims 1 to 7.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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