A cooperative positioning method and device

Abstract

This application discloses a collaborative positioning method and apparatus. The method includes: if a call information is received from a user terminal, determining a first location range of the user based on the call information; determining a positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; acquiring video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy; determining a second location range of the user based on the video stream data and / or the image data; the second location range is smaller than the first location range. In this application embodiment, a two-stage positioning strategy significantly improves positioning accuracy. Selecting the second-stage positioning strategy based on the positioning result of the first stage is more targeted and applicable to the current scenario. The two positioning strategies cooperate to significantly improve the reliability of positioning.

Description

Technical Field

[0001] This application relates to the field of rescue positioning technology, and in particular to a cooperative positioning method and device. Background Technology

[0002] The 3rd Generation Partnership Project (3GPP) is a cross-regional alliance of communication standards organizations, jointly managed by seven global standards-setting organizations, responsible for developing technical specifications for mobile communication systems. Currently, 3GPP standards have clearly defined a positioning function framework to support emergency calls, requiring access networks to implement a high-priority processing mechanism for emergency calls.

[0003] Current positioning methods mainly include Assisted Global Navigation Satellite System (A-GNSS), Enhanced Cell ID (ECID), and Observed Time Difference of Arrival (OTDOA). However, these methods rely on the deployment and accuracy of satellites and wireless base stations. In locations with weak signals and complex terrain, such as tunnels, urban underground spaces, or indoor spaces of high-rise buildings, it is difficult to accurately locate the location of emergency calls, which brings difficulties to timely rescue. Summary of the Invention

[0004] To address the technical problem of existing positioning methods' inaccurate positioning, this invention provides a collaborative positioning method and apparatus. First, preliminary positioning is performed using call information sent by the user terminal. Based on the initial location range, either image positioning or video positioning strategy is determined for subsequent positioning. Further collaborative positioning is then performed using either the image or video positioning strategy. This two-stage positioning strategy significantly improves positioning accuracy. The selection of the second-stage positioning strategy based on the first-stage positioning result is more targeted and applicable to the current scenario. The two positioning strategies work together to significantly improve positioning reliability.

[0005] In a first aspect, embodiments of this application provide a cooperative positioning method, the method comprising:

[0006] If a call message is received from a user terminal, the user's first location range is determined based on the call message;

[0007] The location strategy corresponding to the call information is determined based on the first location range; the location strategy includes video location strategy and image location strategy.

[0008] Acquire video stream data corresponding to the video localization strategy and / or image data corresponding to the image localization strategy;

[0009] Based on video stream data and / or image data, a second location range of the user is determined; the second location range is smaller than the first location range.

[0010] In one optional embodiment, determining the positioning strategy corresponding to the call information based on a first location range includes:

[0011] The monitoring density information and the marker density information are determined based on the first location range;

[0012] The environmental positioning index is determined based on monitoring density information, marker density information, and environmental coefficients.

[0013] If the environmental positioning index is greater than the preset threshold, the video positioning strategy is determined as the positioning strategy; or, if the environmental positioning index is less than or equal to the preset threshold, the image positioning strategy is determined as the positioning strategy.

[0014] In one optional embodiment, if the positioning strategy is a video positioning strategy, obtaining the video stream data corresponding to the video positioning strategy and / or the image data corresponding to the image positioning strategy includes:

[0015] A video acquisition request is generated based on the first location range and call information;

[0016] Send a video acquisition request to the monitoring network;

[0017] Receive video stream data returned from the monitoring network.

[0018] In one optional embodiment, the call information carries biometric features; generating a video acquisition request based on a first location range and the call information includes:

[0019] Determine the regional attribute characteristics and environmental density characteristics of the first location range;

[0020] The video acquisition range is determined based on the first location range and environmental density characteristics;

[0021] Call level is determined based on biometrics;

[0022] Determine the video acquisition angle based on regional attribute characteristics and call level;

[0023] A video acquisition request is generated based on the video acquisition angle and video acquisition range.

[0024] In one optional embodiment, determining the video acquisition angle based on regional attribute features and call level includes:

[0025] If the regional attribute features indicate that the first location range is a public area, then the first viewpoint is determined as the video acquisition angle; or;

[0026] If the regional attribute features indicate that the first location range is a sensitive area and the call level is level one, then the second viewpoint is determined as the video acquisition angle; the first viewpoint is larger than the second viewpoint; or;

[0027] If the regional attribute features indicate that the first location range is a sensitive area and the call level is the second level, the first viewpoint is determined to be the video acquisition angle.

[0028] In one optional embodiment, if the positioning strategy is a video positioning strategy, determining the user's second location range based on video stream data and / or image data includes:

[0029] Determine obstacle and target information in the video stream data;

[0030] If the obstacle information and target information indicate that the obstacle does not obstruct the target, fuzzy matching is performed based on the target features carried by the target information and call information to determine the third location range of the target in the video stream data;

[0031] The second position range is determined based on the third position range and the first position range.

[0032] In an optional embodiment, if the positioning strategy is an image positioning strategy, obtaining the video stream data corresponding to the video positioning strategy and / or the image data corresponding to the image positioning strategy includes:

[0033] Generate an image acquisition request based on call information;

[0034] Send an image acquisition request to the user terminal; the image acquisition request is used to instruct the user to take and upload a photo of the first location range;

[0035] Receive image data returned by the user terminal based on the photo.

[0036] In one alternative embodiment, determining the second location range of the user based on video stream data and / or image data includes:

[0037] Extract marker features from image data;

[0038] Based on the first location range, a set of location features to be matched is determined from a preset location feature library; the set of location features to be matched includes multiple location features; each of the multiple location features corresponds to a multiple location.

[0039] If there is a target location feature in the set of location features to be matched that matches the feature of the marker, the second location range is determined based on the location corresponding to the target location feature.

[0040] The preset location feature library is updated based on the characteristics of the markers and the second location range.

[0041] In an optional embodiment, after determining the second location range of the user based on video stream data and / or image data, the method further includes:

[0042] Obtain the fourth location range of the rescuers;

[0043] Plan rescue routes based on the second and fourth location ranges;

[0044] Based on the rescue path, the fourth location range, and the second location range, a rescue prompt message is generated;

[0045] Send rescue alert messages to user terminals and rescuers' rescue terminals.

[0046] Secondly, embodiments of this application provide a cooperative positioning device, the device comprising:

[0047] The first determining module is used to determine the first location range of the user based on the call information received from the user terminal.

[0048] The second determining module is used to determine the positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy.

[0049] The acquisition module is used to acquire video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy;

[0050] The third determining module is used to determine the second location range of the user based on video stream data and / or image data; the second location range is smaller than the first location range.

[0051] Thirdly, embodiments of this application provide an electronic device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The processor loads and executes the at least one instruction, at least one program, code set, or instruction set to implement the cooperative positioning method of the first aspect.

[0052] Fourthly, embodiments of this application provide a computer-readable storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded and executed by a processor to implement the cooperative positioning method of the first aspect.

[0053] Fifthly, embodiments of this application provide a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the cooperative positioning method of the first aspect.

[0054] The collaborative positioning method and apparatus provided in this application have the following technical effects:

[0055] If a call message is received from a user terminal, the system determines the user's first location range based on the call message; it then determines a positioning strategy corresponding to the call message based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; it acquires video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy; and based on the video stream data and / or image data, it determines the user's second location range; the second location range is smaller than the first location range. In this embodiment, preliminary positioning is first performed using the call message sent by the user terminal. Based on the preliminary first location range, it determines whether to adopt an image positioning strategy or a video positioning strategy. Further collaborative positioning is then performed using either the image positioning strategy or the video positioning strategy. This two-stage positioning strategy significantly improves positioning accuracy. Selecting the second-stage positioning strategy based on the first-stage positioning result is more targeted and suitable for the current scenario. The two positioning strategies work together to significantly improve the reliability of positioning. Attached Figure Description

[0056] To more clearly illustrate the technical solutions and advantages in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 This is a schematic diagram of an application environment provided in an embodiment of this application;

[0058] Figure 2 This is a flowchart illustrating a cooperative localization method provided in an embodiment of this application. Figure 1 ;

[0059] Figure 3 This is a flowchart illustrating a cooperative localization method provided in an embodiment of this application. Figure 2 ;

[0060] Figure 4 This is a flowchart illustrating a video collaborative localization method provided in an embodiment of this application;

[0061] Figure 5 This is a schematic flowchart of an image collaborative localization method provided in an embodiment of this application;

[0062] Figure 6 This is a schematic diagram of the structure of a cooperative positioning device provided in an embodiment of this application;

[0063] Figure 7 This is a hardware structure block diagram of a server for a collaborative positioning method provided in an embodiment of this application. Detailed Implementation

[0064] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0065] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0066] Please see Figure 1 , Figure 1 This is a schematic diagram of an application environment provided in an embodiment of this application, including a user terminal 101, a rescue positioning center 102, a monitoring network 103, and a rescue terminal 104.

[0067] In one possible embodiment, the user terminal 101 is a terminal device used by the user to send call information, and can be an electronic device such as a smartphone, smartwatch, laptop, or wearable smart device. In this embodiment, the user terminal 101 needs to have basic positioning and image acquisition functions. Specifically, it needs to access an existing positioning network to send call information carrying its own rough location, and it also needs to be equipped with a camera to collect image data of the vicinity of the current user.

[0068] In one possible embodiment, the monitoring network 103 is a video-assisted positioning network that integrates multiple monitoring video sources. By integrating public security cameras, intelligent traffic monitoring cameras, and third-party authorized monitoring cameras, it forms a real-time video analysis network with full coverage. Furthermore, the videos acquired by the cameras include not only ordinary videos but also special videos such as infrared thermal imaging videos.

[0069] In one possible embodiment, the rescue terminal 104 is a terminal device used by the rescuer to receive rescue prompts and obtain the precise location of the user being rescued.

[0070] In one possible embodiment, the rescue positioning center 102 includes a collaborative positioning device for receiving call information sent by the user terminal 101, video stream data returned by the monitoring network 103, and image data returned by the user terminal 101, and performing preliminary positioning in the first stage and precise positioning in the second stage.

[0071] In this embodiment, if the collaborative positioning device receives call information sent by a user terminal, it determines a first location range of the user based on the call information; it then determines a positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; it acquires video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy; and it determines a second location range of the user based on the video stream data and / or image data; the second location range is smaller than the first location range. In this embodiment, preliminary positioning is first performed using the call information sent by the user terminal. Based on the preliminary first location range, it determines whether to adopt an image positioning strategy or a video positioning strategy. Further collaborative positioning is then performed using either the image positioning strategy or the video positioning strategy. This two-stage positioning strategy significantly improves positioning accuracy. Selecting the second-stage positioning strategy based on the positioning result of the first stage is more targeted and suitable for the current scenario. The two positioning strategies work together to significantly improve the reliability of positioning.

[0072] The following describes a specific embodiment of a cooperative localization method according to this application. Figure 2 This is a flowchart illustrating a cooperative localization method provided in an embodiment of this application. Figure 1 This specification provides method operation steps as shown in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual system or server products, the methods shown in the embodiments or drawings can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment). Specifically, as shown in the embodiments or drawings... Figure 2 As shown, this method, applied to a cooperative positioning device, may include:

[0073] S201: If a call message is received from a user terminal, determine the first location range of the user based on the call message.

[0074] S202: Determine the positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes video positioning strategy and image positioning strategy.

[0075] S203: Obtain the video stream data corresponding to the video positioning strategy and / or the image data corresponding to the image positioning strategy.

[0076] S204: Determine a second location range for the user based on video stream data and / or image data; the second location range is smaller than the first location range.

[0077] Figure 3 This is a flowchart illustrating a cooperative localization method provided in an embodiment of this application. Figure 2 The method may include:

[0078] S301: Receive call information sent by the user terminal.

[0079] In one possible embodiment, when a user is in an emergency and needs rescue, they send a call message to the collaborative positioning device of the rescue positioning center through their user terminal.

[0080] S302: Determine the first location range of the user based on the call information.

[0081] In one alternative embodiment, the rescue positioning center can determine the first location range of the user based on any one of the existing Assisted Global Navigation Satellite System (A-GNSS), Enhanced Cell ID (ECID), and Observed Time Difference of Arrival (OTDOA) methods to achieve preliminary positioning of the user's location.

[0082] In open areas, existing technologies can achieve preliminary positioning to locate users. However, in locations with weak signals, such as tunnels, urban underground spaces, or indoor spaces in high-rise buildings, it is still impossible to accurately locate users. For example, preliminary positioning with an accuracy of 100m can locate a person when there are no other people within that 100m range. However, if there are many other pedestrians within that 100m range, or if the location is inside a building with complex terrain, a second stage of positioning is needed to identify the specific user in need of rescue among a large number of pedestrians, and to determine which floor and room the user is in.

[0083] S303: Determine the positioning strategy corresponding to the call information based on the first location range.

[0084] In this application embodiment, the positioning strategy includes a video positioning strategy and an image positioning strategy.

[0085] In one possible embodiment, the specific steps for determining the positioning strategy corresponding to the call information based on the first location range include:

[0086] S3031: Determine the monitoring density information and the marker density information based on the first location range.

[0087] S3032: Determine the environmental positioning index based on monitoring density information, marker density information, and environmental coefficient.

[0088] S3033: Determine the positioning strategy as either a video positioning strategy or an image positioning strategy based on the environmental positioning index.

[0089] In this embodiment, the monitoring density information is used to indicate the number of surveillance cameras distributed within a preset spatial range. The marker density information is used to indicate the number of identifiable objects distributed within the preset spatial range.

[0090] In one possible embodiment, the identifiable objects can be buildings, billboards, road signs, shops, sculptures, etc. When building the database, objects on the map can be manually labeled as "identifiable objects," thereby obtaining the number of identifiable objects distributed within a preset spatial range.

[0091] In this embodiment, the environmental coefficient is used to adjust the weights of monitoring density information and marker density information in different environments. For example, in an indoor space, the environmental coefficient corresponding to the monitoring density information is 0.7, and the environmental coefficient corresponding to the marker density information is 0.3; in an outdoor space, the environmental coefficient corresponding to the monitoring density information is 0.4, and the environmental coefficient corresponding to the marker density information is 0.6.

[0092] The monitoring density information a and the marker density information b are determined by the first location range, which is the distribution density of monitoring and markers in the first location range for preliminary positioning. The weights are then adjusted by the environmental coefficients D1 and D2 corresponding to the first location range, and finally the environmental positioning index can be obtained to illustrate the reliability of positioning through monitoring video (ELI=aD1+yD2).

[0093] Therefore, in one possible embodiment, if the environmental positioning index is greater than a preset threshold, the video positioning strategy is determined as the positioning strategy; if the environmental positioning index is less than or equal to the preset threshold, the image positioning strategy is determined as the positioning strategy.

[0094] For example, video positioning strategies can be used inside highways or urban traffic tunnels. The users awaiting rescue are typically car occupants. Signal strength is often poor inside tunnels, resulting in initially low positioning accuracy, but it's relatively easy to deploy a video surveillance network. After a car accident, if the occupants are conscious, they can send out emergency calls. Surveillance cameras can be used to collaboratively locate the accident scene and accurately determine the specific details of the accident based on video stream data, facilitating rescue efforts. If the occupants are unconscious, they need to rely on nearby witnesses or other vehicles to make emergency calls.

[0095] S304: Obtain the video stream data corresponding to the video positioning strategy and / or the image data corresponding to the image positioning strategy.

[0096] S305: Determine the second location range of the user based on video stream data and / or image data.

[0097] In this embodiment of the application, the second position range is smaller than the first position range, and the second position range is the precise positioning required by this application.

[0098] In one possible embodiment, the second location range of the user can be determined based on video stream data, the second location range of the user can be determined based on image data, or the second location range of the user can be determined based on both video stream data and image data.

[0099] The mutual verification of the two positioning strategies can further yield a more accurate and reliable second location range.

[0100] S306: Obtain the fourth location range of the rescuer.

[0101] In this embodiment, a rescue request message can be sent to the rescue terminal used by the rescuer. After the rescue terminal responds, it represents the rescuer responding to the call of the user to be rescued. The collaborative positioning device of the rescue positioning center continues to send location request information to the rescue terminal. With the rescuer's permission, the rescue terminal returns the fourth location range of the rescuer to the rescue positioning center.

[0102] S307: Plan rescue routes based on the second and fourth location ranges.

[0103] S308: Generate rescue prompt information based on the rescue path, the fourth location range, and the second location range.

[0104] S309: Send rescue alert information to the user terminal and the rescuer's rescue terminal.

[0105] In this embodiment of the application, after obtaining the second location range of the user to be rescued, the rescue positioning center can simultaneously push rescue prompt information to the user terminal of the user to be rescued and the rescue terminal of the rescuer. The rescue prompt information is used to explain the relevant evacuation and rescue routes, and the current location of the user to be rescued and the rescuer is marked on the rescue prompt information.

[0106] As the rescuer moves from a specific location within the fourth location range along the rescue path towards the second location range where the rescuer is located, the rescuer's current location can be continuously acquired, and the rescue prompt information can be updated and resent. This updated rescue prompt information can be sent periodically until the rescue operation is completed.

[0107] Figure 4 This is a flowchart illustrating a video collaborative localization method provided in an embodiment of this application. If the localization strategy is a video localization strategy, the method may include:

[0108] S401: Generate a video acquisition request based on the first location range and call information.

[0109] In one possible embodiment, the call information carries biometrics that characterize the current status of the user to be rescued.

[0110] Optionally, users can edit their biometric information, representing their current situation, into a distress message and send it as a call to the rescue and location center. For example, the message could read: "I have been in a car accident on xx road, and my leg may be fractured. I need help." The leg fracture information would be the user's biometric information.

[0111] Optionally, the user's current situation can be determined by other forms of call information such as the user's distress voice or distress video, thereby obtaining the biometric features carried in the call information.

[0112] In one possible embodiment, generating a video acquisition request based on a first location range and call information includes:

[0113] S4011: Determine the regional attribute characteristics and environmental density characteristics of the first location range.

[0114] In one possible implementation, the area attribute feature is used to characterize the openness of the location, that is, whether the location is a public area or a sensitive area. This depends not only on whether the location is physically open or closed, but also on the location's legal attributes and level of protection. Public areas may include streets, squares, subway platforms, etc., while sensitive areas may include the interior of office buildings, corridors of residential buildings, etc.

[0115] In one possible embodiment, the environmental density feature is used to characterize the density of objects within a preset spatial range of the location. In a plaza-type area, there are fewer buildings, so the environmental density feature is 1; in a street-type area, there are more buildings, so the environmental density feature is 1.1; and in a densely populated residential area, there are a lot of buildings, so the environmental density feature is 1.5.

[0116] S4012: Determine the video acquisition range based on the first location range and environmental density features.

[0117] In one possible embodiment, the video acquisition range is obtained by multiplying the first location range by the environmental density feature. For example, if the first location range is 100m and it is a densely populated residential area with an environmental density feature of 1.5, the surveillance video within the 100m range could be directly acquired without considering the environmental density feature of the area. However, considering that the first location range is located in a densely populated residential area, it is necessary to acquire the surveillance video within the 150m range to facilitate multi-angle cross-comparison in the subsequent matching stage, thereby reducing the probability of dense obstacles obscuring the target and increasing the likelihood of successful localization.

[0118] S4013: Determine call level based on biometrics.

[0119] In this embodiment, the call level is determined based on the user's biometric characteristics. If the user is not injured, it indicates that the user is in a normal state, and therefore, the call level is Level 1. If the user is injured, it indicates that the user is in an emergency state, and therefore, the call level is Level 2.

[0120] S4014: Determine the video acquisition angle based on regional attribute features and call level.

[0121] In one possible embodiment, the specific circumstances under which the video acquisition angle is determined based on regional attribute features and call level include:

[0122] In one possible embodiment, if the area attribute features indicate that the first location range is a public area, the first viewpoint is determined as the video acquisition angle. When the user is in a public area, surveillance video from a larger angle can be acquired for collaborative positioning.

[0123] In one possible embodiment, if the area attribute features indicate that the first location range is a sensitive area and the call level is level one, the second viewpoint is determined as the video acquisition angle. The first viewpoint is larger than the second viewpoint. When the user is in a sensitive area and is not injured and is in a normal state, only a smaller angle of surveillance video can be acquired for collaborative positioning.

[0124] In another possible embodiment, if the area attribute features indicate that the first location range is a sensitive area and the call level is level two, the first viewpoint is determined as the video acquisition angle. When a user is in a sensitive area but is injured and in an emergency, the acquisition angle of the surveillance video can be increased for collaborative positioning.

[0125] Through the above-mentioned hierarchical settings, while protecting privacy, the surveillance cameras deployed in the monitoring network can be fully utilized for more accurate collaborative positioning.

[0126] S4015: Generate a video acquisition request based on the video acquisition angle and video acquisition range.

[0127] S402: Send a video acquisition request to the monitoring network.

[0128] S403: Receives video stream data returned from the monitoring network.

[0129] In one possible embodiment, a video acquisition request is generated based on the video acquisition angle and video acquisition range, and the video acquisition request is sent to the monitoring network. After receiving the video acquisition request, the monitoring network returns the corresponding video stream data according to the video acquisition angle and video acquisition range.

[0130] S404: Determine obstacle and target information in the video stream data.

[0131] S405: Determine whether the obstacle is obstructing the target based on the obstacle information and target information. If yes, execute S406; otherwise, execute S408.

[0132] S406: Based on the target information and the target features carried by the call information, perform fuzzy matching to determine the third location range of the target in the video stream data.

[0133] In one possible embodiment, target characteristics include features that facilitate identification of the target, such as the user's age, clothing, gender, and movement. The user typically describes these characteristics when sending a call message.

[0134] S407: Determine the second position range based on the third position range and the first position range.

[0135] S408: Generates and sends an image acquisition request to the user terminal based on the call information.

[0136] In one possible embodiment, the image acquisition request is used to instruct the user to take and upload a photo of a first location range.

[0137] S409: Receive image data returned by the user terminal based on the photo.

[0138] S410: Determine the second location range of the user based on image data.

[0139] In one possible embodiment, the system determines whether there is an obstacle obstructing the target based on the video stream data. If the obstacle does not obstruct the target, it performs fuzzy matching based on the target information and target features in the video to determine the third position range of the target in the video stream data. Then, based on the third position range and the first position range, it finally determines the precise second position range.

[0140] In another possible embodiment, if an obstacle obscures the target, its exact location cannot be determined from the surveillance video. Therefore, an image strategy is needed to instruct the user to take and upload photos of a first location range, and use these photos as image data to determine the user's second location range. The specific implementation process of the image strategy is described in the image collaborative localization method below.

[0141] Figure 5 This is a flowchart illustrating an image collaborative localization method provided in an embodiment of this application. The method may include:

[0142] S501: Generate an image acquisition request based on call information.

[0143] S502: Send an image acquisition request to the user terminal.

[0144] S503: Receive image data returned by the user terminal based on the photo.

[0145] In this embodiment, an image acquisition request is generated based on the user's call information, such as a text message carrying an upload link. The text message instructs the user to take pictures of landmark objects in the surrounding area, and may also include example pictures for explanation. The image acquisition request is sent to the user's terminal. After seeing the request, the user clicks the link as instructed to upload several pictures. The rescue positioning center receives the image data returned by the user's terminal based on the photos.

[0146] S504: Extract marker features from image data.

[0147] S505: Determine the set of location features to be matched in the preset location feature library based on the first location range.

[0148] In one possible embodiment, the set of location features to be matched includes multiple location features. Each of the multiple location features corresponds to a multiple location.

[0149] In this embodiment, the preset location feature database is established in advance. To achieve accurate matching of location features, a relatively complete preset location feature database needs to be established. This database has a large capacity, and data collection can be prioritized based on historical hotspot emergency call areas. That is, the more times an emergency has occurred in the historical data, the higher the priority. The preset location feature database adopts a distributed deployment, with the database for each region deployed in its respective edge computing center.

[0150] Location feature collection in the preset location feature database is carried out by a combination of automatic collection and manual supplementation. Automatic collection can rely on the surveillance camera network to automatically capture images of the area, while manual supplementation requires staff to capture location photos in hotspot areas. After the image data is collected, it is uploaded to the backend for intelligent analysis and distributed storage. The preset location feature database needs to be maintained and updated regularly to ensure the accuracy of intelligent location matching.

[0151] First, the set of location features to be matched is filtered out from the preset location feature library based on the first location range, which can effectively reduce the amount of calculation for subsequent matching and speed up the calculation.

[0152] S506: Determine whether the target location feature exists in the set of location features to be matched. If yes, execute S507; otherwise, execute S503.

[0153] In one possible embodiment, the target location features are matched with the marker features.

[0154] S507: Determine the second location range based on the location corresponding to the target location characteristics.

[0155] S508: Update the preset location feature library based on the characteristics of the markers and the second location range.

[0156] If the target location features and the marker features match, the location corresponding to the target location features will be used as the user's current second location range, and the image currently uploaded by the user will be updated to the preset location feature library.

[0157] If the feature set of the location to be matched does not contain any features that match the feature of the marker, an image acquisition request can be sent to the user terminal again, requesting the upload of a clear and accurate image. If the attempt fails multiple times, a matching failure message can be sent to the user terminal.

[0158] This application also provides a cooperative positioning device. Figure 6 This is a schematic diagram of the structure of a cooperative positioning device provided in an embodiment of this application, as shown below. Figure 6 As shown, the device 600 includes:

[0159] The first determining module 601 is used to determine the first location range of the user based on the call information if it receives call information sent by the user terminal.

[0160] The second determining module 602 is used to determine the positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy.

[0161] The acquisition module 603 is used to acquire video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy;

[0162] The third determining module 604 is used to determine the second location range of the user based on video stream data and / or image data; the second location range is smaller than the first location range.

[0163] In an optional embodiment, it further includes:

[0164] The monitoring density information and the marker density information are determined based on the first location range;

[0165] The environmental positioning index is determined based on monitoring density information, marker density information, and environmental coefficients.

[0166] If the environmental positioning index is greater than the preset threshold, the video positioning strategy is determined as the positioning strategy; or, if the environmental positioning index is less than or equal to the preset threshold, the image positioning strategy is determined as the positioning strategy.

[0167] In an optional embodiment, if the positioning strategy is a video positioning strategy, the method further includes:

[0168] A video acquisition request is generated based on the first location range and call information;

[0169] Send a video acquisition request to the monitoring network;

[0170] Receive video stream data returned from the monitoring network.

[0171] In one optional embodiment, the call information carries biometric characteristics; it also includes:

[0172] Determine the regional attribute characteristics and environmental density characteristics of the first location range;

[0173] The video acquisition range is determined based on the first location range and environmental density characteristics;

[0174] Call level is determined based on biometrics;

[0175] Determine the video acquisition angle based on regional attribute characteristics and call level;

[0176] A video acquisition request is generated based on the video acquisition angle and video acquisition range.

[0177] In an optional embodiment, it further includes:

[0178] If the regional attribute features indicate that the first location range is a public area, then the first viewpoint is determined as the video acquisition angle; or;

[0179] If the regional attribute features indicate that the first location range is a sensitive area and the call level is level one, then the second viewpoint is determined as the video acquisition angle; the first viewpoint is larger than the second viewpoint; or;

[0180] If the regional attribute features indicate that the first location range is a sensitive area and the call level is the second level, the first viewpoint is determined to be the video acquisition angle.

[0181] In an optional embodiment, if the positioning strategy is a video positioning strategy, the method further includes:

[0182] Determine obstacle and target information in the video stream data;

[0183] If the obstacle information and target information indicate that the obstacle does not obstruct the target, fuzzy matching is performed based on the target features carried by the target information and call information to determine the third location range of the target in the video stream data;

[0184] The second position range is determined based on the third position range and the first position range.

[0185] In an optional embodiment, if the positioning strategy is an image positioning strategy, the method further includes:

[0186] Generate an image acquisition request based on call information;

[0187] Send an image acquisition request to the user terminal; the image acquisition request is used to instruct the user to take and upload a photo of the first location range;

[0188] Receive image data returned by the user terminal based on the photo.

[0189] In an optional embodiment, it further includes:

[0190] Extract marker features from image data;

[0191] Based on the first location range, a set of location features to be matched is determined from a preset location feature library; the set of location features to be matched includes multiple location features; each of the multiple location features corresponds to a multiple location.

[0192] If there is a target location feature in the set of location features to be matched that matches the feature of the marker, the second location range is determined based on the location corresponding to the target location feature.

[0193] The preset location feature library is updated based on the characteristics of the markers and the second location range.

[0194] In an optional embodiment, it further includes:

[0195] Obtain the fourth location range of the rescuers;

[0196] Plan rescue routes based on the second and fourth location ranges;

[0197] Based on the rescue path, the fourth location range, and the second location range, a rescue prompt message is generated;

[0198] Send rescue alert messages to user terminals and rescuers' rescue terminals.

[0199] The apparatus and method embodiments in this application are based on the same application concept.

[0200] The methods and embodiments provided in this application can be executed on a computer terminal, server, or similar computing device. Taking running on a server as an example, Figure 7 This is a hardware structure block diagram of a server for a collaborative positioning method provided in an embodiment of this application. For example... Figure 7 As shown, the server 700 can vary significantly due to different configurations or performance. It may include one or more central processing units (CPUs) 710 (CPUs 710 may include, but are not limited to, microprocessors such as MCUs or programmable logic devices such as FPGAs), a memory 730 for storing data, and one or more storage media 720 (e.g., one or more mass storage devices) for storing application programs 723 or data 722. The memory 730 and storage media 720 may be temporary or persistent storage. The program stored in the storage media 720 may include one or more modules, each module may include a series of instruction operations on the server. Furthermore, the CPU 710 may be configured to communicate with the storage media 720 and execute the series of instruction operations stored in the storage media 720 on the server 700. Server 700 may also include one or more power supplies 760, one or more wired or wireless network interfaces 750, one or more input / output interfaces 740, and / or one or more operating systems 721, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0201] The input / output interface 740 can be used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of server 700. In one example, the input / output interface 740 includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the input / output interface 740 may be a radio frequency (RF) module used for wireless communication with the Internet.

[0202] Those skilled in the art will understand that Figure 7 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, server 700 may also include... Figure 7 The more or fewer components shown, or having the same Figure 7 The different configurations shown.

[0203] This application provides an electronic device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The processor loads and executes the at least one instruction, at least one program, code set, or instruction set to implement the above-described data processing method.

[0204] Embodiments of this application also provide a computer-readable storage medium, which can be disposed in a server to store at least one instruction, at least one program, code set, or instruction set related to implementing a cooperative positioning method in the method embodiment. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the above-described cooperative positioning method.

[0205] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0206] As can be seen from the embodiments of the collaborative positioning method, apparatus, electronic device, or storage medium provided in this application, if a call information sent by a user terminal is received, a first location range of the user is determined based on the call information; a positioning strategy corresponding to the call information is determined based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy are acquired; a second location range of the user is determined based on the video stream data and / or image data; the second location range is smaller than the first location range. In the embodiments of this application, preliminary positioning is first performed using the call information sent by the user terminal; based on the preliminary first location range, it is determined whether to adopt an image positioning strategy or a video positioning strategy; further collaborative positioning is performed using the image positioning strategy or the video positioning strategy. Through the two-stage positioning strategy, the positioning accuracy is significantly improved. The selection of the second-stage positioning strategy based on the positioning result of the first stage is more targeted and applicable to the current scenario. The two positioning strategies cooperate with each other, significantly improving the reliability of positioning.

[0207] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0208] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0209] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0210] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cooperative localization method, characterized in that, include: If a call message is received from a user terminal, the user's first location range is determined based on the call message; The location strategy corresponding to the call information is determined based on the first location range; the location strategy includes a video location strategy and an image location strategy. Obtain the video stream data corresponding to the video positioning strategy and / or the image data corresponding to the image positioning strategy; Based on the video stream data and / or the image data, the second location range of the user is determined; The second position range is smaller than the first position range; The step of determining the positioning strategy corresponding to the call information based on the first location range includes: Based on the first location range, determine the monitoring density information and the marker density information; An environmental positioning index is determined based on the monitoring density information, the marker density information, and the environmental coefficient. If the environmental positioning index is greater than a preset threshold, the video positioning strategy is determined to be the positioning strategy; or, if the environmental positioning index is less than or equal to the preset threshold, the image positioning strategy is determined to be the positioning strategy.

2. The cooperative positioning method according to claim 1, characterized in that, If the positioning strategy is the video positioning strategy, the step of obtaining the video stream data corresponding to the video positioning strategy and / or the image data corresponding to the image positioning strategy includes: A video acquisition request is generated based on the first location range and the call information; Send the video acquisition request to the monitoring network; Receive the video stream data returned by the monitoring network.

3. The cooperative positioning method according to claim 2, characterized in that, The call information carries biometric features; the step of generating a video acquisition request based on the first location range and the call information includes: Determine the regional attribute characteristics and environmental density characteristics of the first location range; The video acquisition range is determined based on the first location range and the environmental density features; The call level is determined based on the aforementioned biometric characteristics; The video acquisition angle is determined based on the regional attribute characteristics and the call level; The video acquisition request is generated based on the video acquisition angle and the video acquisition range.

4. The cooperative positioning method according to claim 3, characterized in that, Determining the video acquisition angle based on the regional attribute features and the call level includes: If the regional attribute features indicate that the first location range is a public area, the first viewpoint is determined as the video acquisition angle; or; If the regional attribute features indicate that the first location range is a sensitive area, and the call level is the first level, then the second viewpoint is determined as the video acquisition angle; the first viewpoint is larger than the second viewpoint; or; If the regional attribute features indicate that the first location range is the sensitive area, and the call level is the second level, then the first viewpoint is determined to be the video acquisition angle.

5. The cooperative positioning method according to claim 1, characterized in that, If the positioning strategy is a video positioning strategy, determining the second location range of the user based on the video stream data and / or the image data includes: Determine obstacle information and target information in the video stream data; If the obstacle information and the target information indicate that the obstacle does not obstruct the target, a fuzzy match is performed based on the target information and the target features carried by the call information to determine the third location range of the target in the video stream data; The second location range is determined based on the third location range and the first location range.

6. The cooperative positioning method according to claim 1, characterized in that, If the positioning strategy is the image positioning strategy, obtaining the video stream data corresponding to the video positioning strategy and / or the image data corresponding to the image positioning strategy includes: An image acquisition request is generated based on the call information; The image acquisition request is sent to the user terminal; the image acquisition request is used to instruct the user to take and upload a photo of the first location range; Receive the image data returned by the user terminal based on the photo.

7. The cooperative positioning method according to claim 6, characterized in that, Determining the second location range of the user based on the video stream data and / or the image data includes: Extract the marker features from the image data; Based on the first location range, a set of location features to be matched is determined in a preset location feature library; the set of location features to be matched includes multiple location features; the multiple location features correspond to multiple locations respectively; If there is a target location feature in the set of location features to be matched that matches the marker feature, the second location range is determined based on the location corresponding to the target location feature; The preset location feature library is updated based on the features of the markers and the second location range.

8. The cooperative positioning method according to claim 1, characterized in that, After determining the second location range of the user based on the video stream data and / or the image data, the method further includes: Obtain the fourth location range of the rescuers; Plan a rescue route based on the second and fourth location ranges; Based on the rescue path, the fourth location range, and the second location range, a rescue prompt message is generated; The rescue notification information is sent to the user terminal and the rescuer's rescue terminal.

9. A cooperative positioning device, characterized in that, include: The first determining module is used to determine the first location range of the user based on the call information received from the user terminal. The second determining module is used to determine the positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy. The acquisition module is used to acquire video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy; The third determining module is used to determine the second location range of the user based on the video stream data and / or the image data; The second position range is smaller than the first position range; The step of determining the positioning strategy corresponding to the call information based on the first location range includes: Based on the first location range, determine the monitoring density information and the marker density information; An environmental positioning index is determined based on the monitoring density information, the marker density information, and the environmental coefficient. If the environmental positioning index is greater than a preset threshold, the video positioning strategy is determined to be the positioning strategy; or, if the environmental positioning index is less than or equal to the preset threshold, the image positioning strategy is determined to be the positioning strategy.

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