Image display method and device and vehicle

Abstract

An image display method and device and a vehicle, the method comprising: acquiring three-dimensional information of a first point of interest (POI) sent by a cloud server, the three-dimensional information being determined by an image acquired by a camera when one or more vehicles are around the first POI and pose information corresponding to the image; and controlling the display device to display the three-dimensional information. The method can be applied to an intelligent automobile or an electric automobile, so that the user can comprehensively know the POI, and the user can conveniently confirm the destination.

Description

Image display method, device and vehicle TECHNICAL FIELD

[0001] The present application relates to the field of intelligent driving, and more particularly, to an image display method, device and vehicle. BACKGROUND

[0002] A point of interest (POI) generally refers to a commodity or a destination that a user is interested in. A current POI can only be presented in the form of text or plane information. For a POI in a complex area, it is difficult to confirm the destination within the range only by using text and plane information.

[0003] SUMMARY

[0004] The present application provides an image display method, device and vehicle, which can enable a user to have a comprehensive understanding of a POI and facilitate the user to confirm a destination.

[0005] In a first aspect, the present application provides an image display method, which comprises: acquiring three-dimensional (3D) information of a first point of interest (POI) sent by a cloud server, the three-dimensional information being determined by images and corresponding pose information of the images collected by a camera when one or more vehicles are around the first POI; and controlling a display device to display the three-dimensional information.

[0006] Based on the above technical solution, the three-dimensional information of the POI is displayed by the display device, which can enable a user to have a comprehensive understanding of the POI through the three-dimensional information, thereby facilitating the user to confirm a destination and improving the user experience. For example, the first POI is a certain park, and the three-dimensional information of the park is displayed by the display device, which can enable a user to confirm the information of a destination (for example, a certain sculpture in the park) from the three-dimensional information of the park, thereby facilitating the user to go to the destination.

[0007] In some possible implementation manners, the three-dimensional information of the first POI sent by the cloud server is acquired, comprising: acquiring the three-dimensional information of the first POI and the environment around the first POI sent by the cloud server.

[0008] For example, the first POI is an entrance of an elevator hall, and the three-dimensional information of the elevator hall and the environment around the elevator hall is displayed by the display device, which can enable a user to view the information of a parking space closest to the entrance of the elevator hall, thereby facilitating the user to drive a vehicle to the parking space. In this way, the user can avoid searching for the entrance of the elevator hall in the underground garage by experience, and the efficiency of driving from a current position to a destination can be improved.

[0009] Alternatively, the vehicle can automatically drive from the current location to the parking spot upon detecting the user initiating the intelligent driving function. In this way, the process of the user taking over the vehicle after the vehicle automatically drives to the entrance of the underground garage (the in-vehicle map application can include the location of the entrance but not the location of the elevator hall) and manually drives the vehicle to the elevator hall according to the user's experience helps to expand the boundary of the automatic driving capability, thereby helping to improve the user's intelligent driving experience.

[0010] In some possible implementation manners, the three-dimensional information of the first POI is determined by a cloud server based on images uploaded by one or more vehicles when the vehicles are around the first POI and pose information of the images.

[0011] For example, the cloud server can perform one or more of the following operations to obtain the three-dimensional information of the first POI: segmenting the images uploaded by the one or more vehicles when the vehicles are around the first POI to obtain general objects in different regions of the images and categories of the general objects; extracting text in the images using a text extraction technique and matching the text content with the general objects; reconstructing an environment and positioning based on the images and the pose information corresponding to the images; and performing super-resolution reconstruction on the images based on the images, depth information of the images, and the pose information corresponding to the images, to achieve enhancement from low-quality images to high-quality images.

[0012] In some possible implementation manners, taking the three-dimensional information being a three-dimensional model as an example, the method further includes: in response to detecting a first touch operation of the user on the three-dimensional model, controlling the display device to display the three-dimensional model rotating or translating. For example, the first touch operation can be a sliding operation.

[0013] In some possible implementation manners, the method further includes: switching from displaying an image in the front view direction of a first position in the three-dimensional information to displaying an image in the front view direction of a second position in the three-dimensional information according to a sliding distance of the user's finger on the display screen. The distance between the first position and the second position can be determined by the sliding distance.

[0014] In some possible implementation manners, taking the three-dimensional information being a three-dimensional model as an example, the method further includes: in response to detecting a second touch operation of the user on the three-dimensional model, controlling the display device to display an image in the front view direction of a certain position in the three-dimensional model. For example, the second touch operation can be a clicking operation.

[0015] With reference to the first aspect, in some implementations of the first aspect, the method further includes: controlling the display device to display first prompt information, the first prompt information being used to request the user to confirm whether to navigate to the first POI; and when the first instruction indicating to navigate to the first POI is obtained, controlling the display device to display navigation information from the current location of the terminal device to the first POI.

[0016] Based on the above technical solution, the vehicle can detect the accuracy of the three-dimensional information of the first POI constructed by the cloud server through the feedback of the user. If the user feeds back that the navigation is to the first POI, it can be confirmed that the information of the first POI is accurate, so that the navigation information from the current location to the first POI can be displayed.

[0017] With reference to the first aspect, in some implementations of the first aspect, the terminal device is a vehicle, and the method further includes: controlling the vehicle to travel from the current location to the first POI according to the navigation information.

[0018] Based on the above technical solution, the vehicle can automatically drive from the current location to the first POI. In this way, the process that the user takes over the vehicle and manually drives the vehicle to the first POI according to the user's experience after the vehicle automatically drives to a certain location near the first POI (the location is a POI in the map application) is avoided, which helps to expand the boundary of the automatic driving capability of the vehicle, thereby helping to improve the intelligent driving experience of the user.

[0019] In some possible implementations, the first POI is a POI not included in the map application.

[0020] In some possible implementations, controlling the vehicle to travel from the current location to the first POI according to the navigation information includes: controlling the vehicle to travel from the current location to a nearest drop-off location of the first POI according to the navigation information. In this way, after detecting that the user starts the intelligent driving function, the vehicle can automatically drive to the nearest drop-off location of the first POI. After detecting that the user gets off at the nearest drop-off location of the first POI, the vehicle can automatically park in any reasonable parking space.

[0021] With reference to the first aspect, in some implementations of the first aspect, the three-dimensional information includes an image of each sub-region in a plurality of sub-regions and pose information of the image of each sub-region, and the method further includes: when detecting an operation of the user selecting a first sub-region from the plurality of sub-regions, controlling the display device to display navigation information from the current location of the terminal device to the first sub-region.

[0022] Based on the above technical solution, the user can select a sub-region (navigation destination) from the plurality of sub-regions after viewing the three-dimensional information, so that the terminal device can display navigation information from the current position to the sub-region.

[0023] For example, the first POI is a park, and the first sub-region is a building in the park.

[0024] For example, the first POI is an underground parking lot, and the first sub-region is a parking space.

[0025] For example, the first POI is a charging area, and the first sub-region is a charging pile.

[0026] In some implementations of the first aspect, the three-dimensional information includes an image of each sub-region of the plurality of sub-regions and pose information of the image of each sub-region, and the method further includes: controlling the display device to recommend a first sub-region to the user and controlling the display device to display second prompt information for requesting the user to confirm whether to navigate to the first sub-region, the plurality of sub-regions including the first sub-region; and when a second instruction of the user is obtained, the second instruction indicating to navigate to the first sub-region, controlling the display device to display navigation information from a current position of the terminal device to the first sub-region.

[0027] Based on the above technical solution, the vehicle can recommend a sub-region to the user as a navigation destination through the three-dimensional information. In this way, after the user confirms the navigation destination, the vehicle can display navigation information from the current position to the sub-region.

[0028] In some implementations of the first aspect, the first sub-region is a parking space.

[0029] In some possible implementations, the three-dimensional information of the first point of interest (POI) sent by the cloud server is obtained, including: obtaining the three-dimensional information of the first POI and the environment around the first POI sent by the cloud server; the method further includes: controlling the display device to recommend a parking space closest to the first POI to the user in the three-dimensional information.

[0030] In some implementations of the first aspect, the terminal device is a vehicle, and the method further includes: controlling the vehicle to travel from the current position to the first sub-region according to the navigation information.

[0031] With reference to the first aspect, in some implementations of the first aspect, the three-dimensional information includes an image of each of a plurality of sub-regions and pose information of the image of each of the plurality of sub-regions, and the method further includes: controlling the display device to recommend a second sub-region to the user and controlling the display device to display third prompt information for requesting the user to confirm whether to navigate to the second sub-region, the plurality of sub-regions including the second sub-region; and when a third instruction of the user is obtained, sending a fourth instruction to the cloud server, the third instruction indicating not to navigate to the second sub-region, and the fourth instruction indicating the cloud server to re-identify the three-dimensional information or the second sub-region.

[0032] Based on the above technical solutions, after the user feeds back not to navigate to the second sub-region, it can be confirmed that the three-dimensional information constructed by the cloud server or the second sub-region can be inaccurate, so as to instruct the cloud server to re-identify the three-dimensional information or the second sub-region. In this way, the accuracy of the three-dimensional information constructed by the cloud server can be verified through the feedback of the user, and the three-dimensional information is re-constructed in the case of inaccuracy, which helps to improve the accuracy of the three-dimensional information displayed by the terminal device.

[0033] With reference to the first aspect, in some implementations of the first aspect, the method further includes: controlling the display device to display fourth prompt information for requesting the user to select from the plurality of sub-regions; and when a fifth instruction of the user is obtained, controlling the display device to display navigation information from a current position of the terminal device to a third sub-region, the fifth instruction indicating that the user selects the third sub-region, and the plurality of sub-regions including the third sub-region.

[0034] Based on the above technical solutions, by prompting the user to select from the plurality of sub-regions and detecting that the user selects the third sub-region, it can be confirmed that there is an accurate sub-region in the first POI. In this way, in the case that some sub-regions in the three-dimensional information are determined to be inaccurate and some sub-regions are accurate through the feedback of the user, the navigation information from the current position to the accurate sub-region can be displayed by the display device. In this way, on the one hand, the cloud server can re-identify the inaccurate sub-region, and on the other hand, the user's navigation experience will not be affected.

[0035] With reference to the first aspect, in some implementations of the first aspect, the terminal device is a vehicle, and the method further includes: controlling the vehicle to travel from the current position to the third sub-region according to the navigation information.

[0036] With reference to the first aspect, in some implementations of the first aspect, the first POI is a parking lot or a charging area.

[0037] Based on the above technical solution, for the parking lot or charging area, there can be a plurality of sub-areas. Through the three-dimensional information, the user can be displayed the plurality of sub-areas, and the user can select any one of the plurality of sub-areas. In this way, the driver can drive the vehicle to any one of the sub-areas of the parking lot or charging area based on the navigation information; or, after the vehicle detects that the user starts the intelligent driving function, the vehicle can be controlled to drive from the current position to the sub-area, and during this period, the user does not need to take over the vehicle and manually drive the vehicle to the sub-area according to the user's experience, which helps to expand the capability boundary of the vehicle automatic driving, thereby helping to improve the intelligent driving experience of the user.

[0038] In a second aspect, an image display device is provided, including: an acquisition unit configured to acquire three-dimensional information of a first point of interest (POI) sent by a cloud server, the three-dimensional information being determined by an image collected by a camera when one or more vehicles are around the first POI and pose information corresponding to the image; and a control unit configured to control a display device to display the three-dimensional information.

[0039] With reference to the second aspect, in some implementations of the second aspect, the control unit is further configured to: control the display device to display first prompt information, the first prompt information being used to request a user to confirm whether to navigate to the first POI; and control the display device to display navigation information from a current position of a terminal device to the first POI when the acquisition unit acquires a first instruction of the user, the first instruction indicating to navigate to the first POI.

[0040] With reference to the second aspect, in some implementations of the second aspect, the terminal device is a vehicle, and the control unit is further configured to: control the vehicle to drive from the current position to the first POI according to the navigation information.

[0041] With reference to the second aspect, in some implementations of the second aspect, the three-dimensional information includes an image of each sub-area of a plurality of sub-areas and pose information of the image of each sub-area, and the device further includes: a detection unit configured to detect an operation of the user selecting a first sub-area from the plurality of sub-areas; and the control unit is further configured to, in response to detecting the operation of selecting the first sub-area, control the display device to display navigation information from a current position of a terminal device to the first sub-area.

[0042] With reference to the second aspect, in some implementations of the second aspect, the three-dimensional information comprises an image of each of a plurality of sub-regions and pose information of the image of each of the plurality of sub-regions, the control unit is further configured to control the display device to recommend a first sub-region to the user and control the display device to display second prompt information, the second prompt information being used to request the user to confirm whether to navigate to the first sub-region, the plurality of sub-regions comprising the first sub-region; and control the display device to display navigation information from a current location of the terminal device to the first sub-region when the acquisition unit acquires a second instruction of the user, the second instruction being used to indicate to navigate to the first sub-region.

[0043] With reference to the second aspect, in some implementations of the second aspect, the first sub-region is a parking space.

[0044] With reference to the second aspect, in some implementations of the second aspect, the terminal device is a vehicle, and the control unit is further configured to control the vehicle to travel from the current location to the first sub-region according to the navigation information.

[0045] With reference to the second aspect, in some implementations of the second aspect, the three-dimensional information comprises an image of each of a plurality of sub-regions and pose information of the image of each of the plurality of sub-regions, the control unit is further configured to control the display device to recommend a second sub-region to the user and control the display device to display third prompt information, the third prompt information being used to request the user to confirm whether to navigate to the second sub-region, the plurality of sub-regions comprising the second sub-region; and the apparatus further comprises a sending unit configured to send a fourth instruction to the cloud server when the acquisition unit acquires a third instruction of the user, the third instruction being used to indicate not to navigate to the second sub-region, the fourth instruction being used to instruct the cloud server to re-identify the three-dimensional information or the second sub-region.

[0046] With reference to the second aspect, in some implementations of the second aspect, the control unit is further configured to control the display device to display fourth prompt information, the fourth prompt information being used to request the user to select from the plurality of sub-regions; and control the display device to display navigation information from a current location of the terminal device to a third sub-region when the acquisition unit acquires a fifth instruction of the user, the fifth instruction indicating that the user selects the third sub-region, the plurality of sub-regions comprising the third sub-region.

[0047] With reference to the second aspect, in some implementations of the second aspect, the terminal device is a vehicle, and the control unit is further configured to control the vehicle to travel from the current location to the third sub-region according to the navigation information.

[0048] With reference to the second aspect, in some implementations of the second aspect, the first POI is a parking lot or a charging area.

[0049] In a third aspect, an image display device is provided, which includes a memory for storing a computer program and a processor for executing the computer program in the memory, so that the device can implement the method in any possible implementation manner of the first aspect.

[0050] In a fourth aspect, an image display system is provided, which includes a display device and the device in any one of the second aspect or the third aspect.

[0051] In a fifth aspect, a vehicle is provided, which includes the device in any one of the second aspect or the third aspect, or the system in the fourth aspect.

[0052] The vehicle in the present application is a vehicle in a broad sense, which can be a traffic tool (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), a recreational device, a toy vehicle, etc. The type of the vehicle is not limited in the embodiments of the present application.

[0053] In a sixth aspect, a computer program product is provided, which includes computer program code, when the computer program code is run on a computer, so that the computer executes the method in any possible implementation manner of the first aspect.

[0054] In a seventh aspect, a computer readable storage medium is provided, which stores a computer program, when the computer program is run on a computer, so that the computer executes the method in any possible implementation manner of the first aspect.

[0055] In an eighth aspect, a chip is provided, which includes a circuit for executing the method in any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0056] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application.

[0057] FIG. 2 is a schematic block diagram of an intelligent driving system according to an embodiment of the present application.

[0058] FIG. 3 is a set of user graphical interfaces (GUIs) according to an embodiment of the present application.

[0059] FIG. 4 is another set of GUIs according to an embodiment of the present application.

[0060] FIG. 5 is another set of GUIs according to an embodiment of the present application.

[0061] FIG. 6 is another GUI according to an embodiment of the present application.

[0062] FIG. 7 is a schematic diagram of a system architecture according to an embodiment of the present application.

[0063] FIG. 8 is a schematic diagram of a human-computer interaction process according to an embodiment of the present application.

[0064] FIG. 9 is a schematic flowchart of an image display method according to an embodiment of the present application.

[0065] FIG. 10 is a schematic block diagram of an image display device according to an embodiment of the present application. DETAILED DESCRIPTION

[0066] In the following, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means "or", for example, A / B can mean A or B; "and / or" in the present application only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there can be three relationships, for example, A and B, B alone. "At least one" means one or more. For example, "at least one of A and B" is similar to "A and / or B", which describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and B, B alone.

[0067] In the embodiments of the present application, the prefix words such as "first", "second" are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as prefixes in the embodiments of the present application does not limit the described objects, and the description of the described objects should be referred to the description of the context in the claims or embodiments, and should not be limited by the use of such prefix words. In addition, in the description of the embodiments, unless otherwise specified, the meaning of "multiple" is two or more.

[0068] FIG. 1 is a functional block diagram of a vehicle 100 according to an embodiment of the present application. The vehicle 100 can include a perception system 110, a computing platform 120, and a display device 130. The perception system 110 can include one or more sensors that sense information about the environment surrounding the vehicle 100. For example, the perception system 110 can include a positioning system, which can be a global positioning system (GPS), a Beidou system, or another positioning system. For another example, the perception system 110 can include one or more of an inertial measurement unit (IMU), an acceleration sensor, a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0069] Some or all functions of the vehicle 100 can be controlled by the computing platform 120. The computing platform 120 can include one or more processors, such as processors 121 through 12n (n is a positive integer), which are circuits having a processing capability of signals. In one implementation, the processors can be circuits having an instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a kind of microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processors can be circuits having a certain function implemented by a logic relationship of hardware circuits, which is fixed or reconfigurable. For example, the processors can be hardware circuits implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In the reconfigurable hardware circuit, the processor loads a configuration document to implement the hardware circuit configuration. It can be understood that the processor loads instructions to implement the functions of the above units. In addition, the processors can also be hardware circuits designed for artificial intelligence, which can be understood as a kind of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), or the like. In addition, the computing platform 120 can also include a memory for storing instructions, and some or all of the processors 121 through 12n can call the instructions in the memory to implement corresponding functions.

[0070] The display device 130 in the cabin is mainly divided into two categories, the first category is a vehicle display screen, and the second category is a projection display screen, such as a head up display (HUD). The vehicle display screen is a physical display screen and is an important component of the in-vehicle infotainment system. Multiple display screens can be provided in the cabin, such as a digital instrument display screen, a center control screen, a display screen in front of a passenger (also referred to as a front passenger) at a co-driver position, a display screen in front of a left rear passenger, and a display screen in front of a right rear passenger, or even a vehicle window can be used as a display screen for display. The head up display, also known as a head-up display system, is mainly used for displaying driving information such as speed, navigation, etc. on a display device (such as a windshield) in front of the driver. This reduces the time for the driver to change his line of sight and avoids changes in the pupil caused by the driver changing his line of sight, thereby improving driving safety and comfort. The HUD includes, for example, a combiner-HUD (C-HUD) system, a windshield-HUD (W-HUD) system, and an augmented reality HUD (AR-HUD). It should be understood that other types of systems can also appear as the technology evolves, and the present application does not limit this.

[0071] The display device 130 described above is illustrated by taking the vehicle display screen and the projection display screen as examples, and embodiments of the present application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen.

[0072] Optionally, the structure of the vehicle 100 described above is only schematic, and in actual applications, various components in the vehicle 100 described above can be added or deleted according to actual needs.

[0073] The vehicle 100 can include an intelligent driving system, which can include an advanced driving assistant system (ADAS) and an autonomous driving system (ADS). The intelligent driving system uses various sensors (including but not limited to laser radar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, and inertial measurement unit) on the vehicle to obtain information from the surroundings of the vehicle, and analyzes and processes the obtained information to realize functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / reminding, etc., thereby improving the safety, automation level, and comfort of vehicle driving.

[0074] For example, FIG. 2 shows a schematic block diagram of an intelligent driving system according to an embodiment of the present application. The intelligent driving system can include three functional modules: a perception module 210, a planning module 220, and a control module 230, wherein the perception module 210 perceives the environment around the vehicle body through sensors and outputs corresponding perception data to the planning and control module 220. The planning module 220 obtains road topology and target object information according to the information obtained by the perception module 210. The planning module 220 can determine a planning trajectory for a period of time based on the road topology and target object information. The planning module 220 can send the planning trajectory to the control module 230. The control module 230 can output a control signal after receiving the planning trajectory from the planning module 220, and can control the actuators to take corresponding actions, such as steering, accelerating, decelerating, etc.

[0075] The perception module 210 described above can be the perception system 110 described above, and the planning module 220 and the control module 230 can be located in the computing platform 120 described above.

[0076] The degree to which a vehicle-based driving automation system is capable of performing dynamic driving tasks is divided into levels 0-5 (or L0-L5) based on the role assigned in performing dynamic driving tasks and the presence or absence of operational design domain (ODD) limits, such as external conditions suitable for the functional operation of the driving automation system as determined when the system is designed, such as roads, traffic, weather, lighting, etc. Among the six levels of driving automation, levels 0-2 are driving assistance, and the system assists humans in performing dynamic driving tasks, and the driving subject is still the driver; levels 3-5 are autonomous driving, and the system replaces humans to perform dynamic driving tasks under the design operating conditions, and when the function is activated, the driving subject is the system. The names and definitions of each level are as follows:

[0077] A level 0 driving automation (may also be referred to as emergency assistance) system is not capable of sustained vehicle lateral or longitudinal motion control in dynamic driving tasks, but has the capability for partial goal and event detection and response in dynamic driving tasks. A level 1 driving automation (may also be referred to as partial driver assistance) system performs vehicle lateral or longitudinal motion control in dynamic driving tasks for sustained periods of time under design operating conditions, and has the capability for partial goal and event detection and response commensurate with the vehicle lateral or longitudinal motion control performed. A level 2 driving automation (may also be referred to as combined driver assistance) system performs vehicle lateral and longitudinal motion control in dynamic driving tasks for sustained periods of time under design operating conditions, and has the capability for partial goal and event detection and response commensurate with the vehicle lateral and longitudinal motion control performed. A level 3 driving automation (may also be referred to as conditionally automated driving) system performs all dynamic driving tasks for sustained periods of time under design operating conditions. A level 4 driving automation (may also be referred to as highly automated driving) system performs all dynamic driving tasks for sustained periods of time under design operating conditions and an automated minimum risk strategy. A level 5 driving automation (may also be referred to as fully automated driving) system performs all dynamic driving tasks for sustained periods of time under all foreseeable conditions and an automated minimum risk strategy. Generally, intelligent driving systems are generally L2-L5, such as ADAS is L2, and ADS is L3-L5.

[0078] As described above, the current POI can only be presented in the form of text or plane information, and for the POI in a complex area, it is difficult to confirm the destination in the range only by text and plane information.

[0079] Embodiments of the present application provide an image display method and device and a vehicle, which display three-dimensional information of a POI through a terminal device, so that a user can have a comprehensive understanding of the POI and confirm a destination conveniently.

[0080] FIG. 3 shows a set of user graphical user interfaces (GUIs) provided by embodiments of the present application.

[0081] As shown in (a) of FIG. 3, when the vehicle 200 detects that "A Mall, Basement 1, Elevator Hall No. 1" is input through the search box 301 of the in-vehicle map application, the vehicle 200 can display three search results in the search result box 302, for example, A Mall North Gate, A Mall South Gate, and A Mall, Basement 1, Car Wash. At this time, the search result of "A Mall, Basement 1, Elevator Hall No. 1" is not included in the search result box 302, and the user needs to manually drive the vehicle to find the location of the Elevator Hall No. 1 after driving into the A Mall, Basement 1.

[0082] As shown in (b) of FIG. 3, when the vehicle 200 detects that the user drives the vehicle into the A Mall, Basement 1 parking lot and parks the vehicle 200 near the Elevator Hall No. 1, the vehicle 200 can collect environmental information around the vehicle through sensors outside the cabin. For example, the vehicle 200 can collect images through a camera outside the cabin. The vehicle 200 can send the images and the pose information corresponding to the images to the cloud server.

[0083] The pose information corresponding to the above images can be the pose information of the vehicle 200 (or the camera of the vehicle 200) when the vehicle 200 collects the images, or can also be the pose information of the images themselves.

[0084] For another example, the vehicle 200 can collect point cloud data through a laser radar or a millimeter wave radar outside the cabin. The vehicle 200 can send the point cloud data and the pose information of the vehicle 200 when the point cloud data is collected to the cloud server.

[0085] Optionally, the vehicle 200 can send the data collected by the sensor outside the cabin and the pose information corresponding to the data to the cloud server when detecting the user's parking operation; or the vehicle 200 can send the data collected by the sensor outside the cabin and the pose information corresponding to the data to the cloud server within a preset time period before detecting the user's parking operation.

[0086] Optionally, when the vehicle 200 detects that the user searches for information of a first POI through the in-vehicle map application and the in-vehicle map application does not provide a search result of the first POI, the vehicle 200 can send the data collected by the sensor outside the cabin and the pose information corresponding to the data to the cloud server.

[0087] For an example, the vehicle 200 detects that the user searches for "A Mall, Elevator Hall No. 1" through the in-vehicle map application, and the search result of "A Mall, Elevator Hall No. 1" is not included in the search result provided by the in-vehicle map application. When the vehicle 200 detects the user's parking operation, the vehicle 200 can send the image near the parking point and the pose information of the vehicle 200 when the image is collected to the cloud server.

[0088] Optionally, when the vehicle 200 detects that the user issues a voice instruction to find a second POI, the vehicle 200 can send the image captured by the cabin external camera and the pose of the vehicle 200 when the image is captured to the cloud server.

[0089] It should be noted that the information collection process (such as image data collection, point cloud data collection, voice collection, user search data collection in the vehicle map application, etc.) involved in the embodiments of the present application is executed with the user's knowledge and permission, that is, the information collection process meets the legal and regulatory requirements and does not belong to the act of interfering with the public interest.

[0090] As shown in (c) of FIG. 3, after receiving the information sent by the vehicle 200, the cloud server can process the information sent by the vehicle 200.

[0091] For example, taking the image and pose information sent by the vehicle 200 to the cloud server as an example, the cloud server can segment the image by an image segmentation algorithm and match the segmentation results by categories. As shown in (c) of FIG. 3, after segmenting the image and matching the categories, the cloud server can establish the association relationship between different regions in the image and their corresponding categories (for example, parking space, wall, column, automatic door of elevator hall, ground).

[0092] Optionally, the cloud server can also recognize the text in the image by a text recognition algorithm. For example, the text content "1st elevator hall" is recognized from the image uploaded by the vehicle 200. The cloud server can verify and fuse the association relationship between the above-mentioned regions and categories based on the recognized text content. When the cloud server determines that the text content "1st elevator hall" is located near the automatic door of the elevator hall, it can determine that the automatic door of the elevator hall in the image is the automatic door of the 1st elevator hall.

[0093] Optionally, the cloud server can also enrich and update the existing POIs in the base map of the vehicle map application. The cloud server can match the newly recognized POI (for example, "1st elevator hall") with the existing POI near the user's parking position, and update and supplement the existing POI.

[0094] For example, the multiple POIs in the vehicle map application include a car wash shop on the first floor of A mall and the location information of the car wash shop. Based on the location information of the car wash shop and the pose information of the vehicle 200 when the image is collected, the cloud server can add the POI of the 1st elevator hall to the vehicle map application and add the image of the 1st elevator hall near the existing car wash shop.

[0095] Optionally, the location information of a certain POI is included in the in-vehicle map application, and the three-dimensional information of the POI and the surrounding environment of the POI is not included. The cloud server can process the images collected by one or more vehicles around the POI and the pose information corresponding to the images, so as to obtain the three-dimensional information of the POI. The cloud server can associate the location information of the POI with the three-dimensional information. Optionally, the cloud server can send the associated location information and the three-dimensional information of the POI to the vehicle 100; or the cloud server can send the three-dimensional information of the POI to the vehicle 100, and the vehicle can associate the location information of the POI with the three-dimensional information.

[0096] Optionally, the vehicle 200 can send multiple images (or videos) around the No. 1 elevator hall and the pose information corresponding to each image to the cloud server. The cloud server can perform environment reconstruction based on the multiple images sent by the vehicle 200 and the pose information corresponding to each image. Based on the input of sparse view images and corresponding pose information, the three-dimensional information of the No. 1 elevator hall and the surrounding environment of the No. 1 elevator hall is obtained. In this way, by sending the three-dimensional information to the vehicle, the user can continuously rotate or translate to view the three-dimensional information of the No. 1 elevator hall and the surrounding environment of the No. 1 elevator hall.

[0097] Optionally, the cloud server can perform super-resolution reconstruction on the images based on the multiple images, the depth information of each image in the multiple images, and the pose information corresponding to each image, to realize enhancement from low-quality images to high-quality images.

[0098] In the above embodiments, the vehicle 200 sends multiple images and the pose information corresponding to each image to the cloud server as an example, which is not limited in the embodiments of the present application. For example, the cloud server can receive the images and pose information of the No. 1 elevator hall and the surrounding environment of the No. 1 elevator hall sent by multiple vehicles (which can be understood as crowd-sourced vehicles), and construct the three-dimensional information of the No. 1 elevator hall and the surrounding environment of the No. 1 elevator hall based on the images and pose information sent by the multiple vehicles.

[0099] In the embodiments of the present application, based on a low-cost crowd-sourced POI recommendation layer generation method, a friendly 3D POI information viewing method can be provided for users, which helps to improve the experience of users when using the navigation function. At the same time, for vehicles with intelligent driving function, the boundary of intelligent driving capability can be expanded.

[0100] As shown in (d) of FIG. 3, when the vehicle 100 detects that "A Mall" is input through the search box 303 of the in-vehicle map application, the vehicle 100 can display 4 search results in the search result box 304, for example, A Mall North Entrance, A Mall South Entrance, A Mall Basement Car Wash, and A Mall Basement 1st Floor Elevator Hall. When the vehicle 100 detects that the user selects "A Mall Basement 1st Floor Elevator Hall" in the search result box 304, the vehicle 100 can display the GUI shown in (e) of FIG. 3 through the display screen.

[0101] As shown in (e) of FIG. 3, in response to detecting that the user selects "A Mall Basement 1st Floor Elevator Hall", the vehicle 100 can display an image of a certain perspective in the three-dimensional information of the 1st Floor Elevator Hall and the surrounding environment of the 1st Floor Elevator Hall, which includes an arrow 305 pointing to the entrance of the 1st Floor Elevator Hall. At the same time, the vehicle 100 can also display a prompt box 306 through the display screen, which includes prompt information "Do you want to navigate to the 1st Floor Elevator Hall?". When the vehicle 100 detects that the user clicks the control 307, the vehicle 100 can display the GUI shown in (f) of FIG. 3 through the display screen.

[0102] As shown in (f) of FIG. 3, in response to detecting that the user clicks the control 307, the vehicle 100 can plan a driving path from the current location to the 1st Floor Elevator Hall of A Mall. At the same time, the vehicle 100 can display a prompt box 308 through the display screen, which includes prompt information "The driving path from the current location to the 1st Floor Elevator Hall of A Mall has been planned for you".

[0103] Optionally, when the vehicle 100 detects that the user turns on the intelligent driving function, the vehicle 100 can control the vehicle 100 to automatically drive from the current location to the 1st Floor Elevator Hall according to the driving path.

[0104] Optionally, after detecting that the user clicks the control 307, the vehicle 100 can also prompt the user to select a drop-off location. For example, when the vehicle 100 detects that the user clicks a certain parking space, the vehicle 100 can plan a driving trajectory from the current location to the parking space.

[0105] For another example, when the vehicle 100 detects that the user clicks a column, the vehicle 100 can plan a driving trajectory from the current location to the column. When the vehicle 100 detects that the user turns on the intelligent driving function, the vehicle 100 can control the vehicle 100 to automatically drive from the current location to the vicinity of the column according to the driving path. When the vehicle 100 detects that the user gets off, the vehicle 100 can automatically park in any reasonable parking space.

[0106] For example, FIG. 4 shows another set of GUIs provided by the embodiments of the present application.

[0107] As shown in (a) of FIG. 4, when the vehicle 100 detects that the user inputs "B Mall" through the search box 401 of the in-vehicle map application, the vehicle 100 can display four search results including B Mall North Gate, B Mall South Gate, B Mall Underground 1 Parking Lot, and B Mall Underground 2 Parking Lot through the search result box 402. When the vehicle 100 detects that the user selects the B Mall Underground 2 Parking Lot, the vehicle 100 can display the GUI shown in (b) of FIG. 4 through the display screen.

[0108] The B Mall Underground 1 Parking Lot and the B Mall Underground 2 Parking Lot described above can be POIs obtained through the low-cost crowdsourcing method described above. For example, the cloud server can construct three-dimensional information of the B Mall Underground 2 Parking Lot based on images of the B Mall Underground 2 Parking Lot uploaded by a plurality of vehicles and pose information corresponding to the images.

[0109] As shown in (b) of FIG. 4, in response to detecting that the user selects the B Mall Underground 2 Parking Lot, the vehicle 100 can display three-dimensional information of the B Mall Underground 2 Parking Lot through the display screen. The user can perform a click, a drag, a zoom, and a rotation operation on the three-dimensional information.

[0110] For example, the user can switch to display an image in the front view direction of a certain position of the three-dimensional information by clicking the certain position. For another example, the user can view different perspectives of the three-dimensional information by performing a rotation operation on the three-dimensional information. For another example, the user can view the three-dimensional information at a close distance or a far distance by zooming in or out the three-dimensional information. When the vehicle 100 detects that the user clicks a certain position of the three-dimensional information, the vehicle 100 can display the GUI shown in (c) of FIG. 4.

[0111] As shown in (c) of FIG. 4, in response to detecting that the user clicks a certain position of the three-dimensional information, the vehicle 100 can display an image in the front view direction of the certain position through the display screen. When the vehicle 100 detects a swipe operation of the user on the display screen, the vehicle 100 can display the GUI shown in (d) of FIG. 4.

[0112] The GUIs shown in (b) and (c) of FIG. 4 can be referred to as three-dimensional information of the B Mall Underground 2 Parking Lot. The GUI shown in (b) of FIG. 4 displays a three-dimensional model of the B Mall Underground 2 Parking Lot, and the GUI shown in (c) of FIG. 4 displays an image in the front view direction of a certain position of the three-dimensional model.

[0113] As shown in (d) of FIG. 4, in response to detecting that the user performs a swipe operation on the display screen, the vehicle 100 can display an image in the front view direction of another position through the display screen. When the vehicle 100 detects that the user clicks a certain parking space in the image, the vehicle 100 can highlight the certain parking space through the display screen and display the GUI shown in (e) of FIG. 4.

[0114] As shown in (e) of FIG. 4, in response to detecting that the user clicks the operation of the parking space in the image, the vehicle 100 can display a prompt box 403 including prompt information "Do you want to navigate to the parking space?" through the display screen. When detecting that the user clicks the control 404, the GUI as shown in (f) of FIG. 4 can be displayed.

[0115] As shown in (f) of FIG. 4, in response to detecting that the user clicks the control 404, the vehicle 100 can plan a driving path from the current location to the parking space. At the same time, the vehicle 100 can display a prompt box 405 including prompt information "The driving path from the current location to the parking space you selected has been planned for you" through the display screen.

[0116] In the embodiments of the present application, for the underground parking lot, which can include multiple parking spaces. The user can have a full understanding of the underground parking lot and can select the parking space (for example, the parking space closest to the elevator entrance) preferred by himself by viewing the three-dimensional information of the underground parking lot. In this way, when only including the entrance of the underground parking lot in the vehicle map application, the three-dimensional information of the underground parking lot constructed by the cloud server can make the vehicle 100 automatically drive from the current location to a certain parking space after starting the intelligent driving function. Avoid the process of taking over the vehicle by the user after driving to the entrance of the underground parking lot, and then manually driving to a certain parking space by experience, which helps to improve the ability boundary of vehicle automatic driving, and also helps to improve the intelligent driving experience of the user.

[0117] For example, FIG. 5 shows another set of GUIs provided by the embodiments of the present application.

[0118] As shown in (a) of FIG. 5, when the vehicle 100 detects that the user inputs "C Park" through the search box 501 of the vehicle map application, the vehicle 100 can display four search results including C Park North Gate, C Park South Gate, C Park Charging Area and C Park Parking Lot through the search result box 502. When detecting that the user selects the C Park Charging Area, the GUI as shown in (b) of FIG. 5 can be displayed through the display screen.

[0119] The above C Park Charging Area can be a POI obtained by the above low-cost crowdsourcing method. For example, the cloud server can construct the three-dimensional information of the C Park Charging Area based on the images of the C Park Charging Area uploaded by multiple vehicles and the pose information corresponding to the images.

[0120] As shown in (b) of FIG. 5, in response to detecting that the user selects the operation of selecting the charging area of C Park, the vehicle 100 can highlight a certain charging pile through the display screen and display a prompt box 503, wherein the prompt box 503 includes prompt information “Do you want to navigate to the charging pile?”. As can be seen from the three-dimensional information, the column behind the parking space highlighted is misrecognized as a charging pile by the cloud server. When detecting that the user clicks the control 504, the GUI shown in (c) of FIG. 5 can be displayed.

[0121] Alternatively, when detecting that the user clicks the control 504, the vehicle 100 can also prompt the user to confirm that the charging pile recognition is incorrect, or the charging pile recognition is correct and the user wants to replace a charging pile. When detecting that the user confirms that the charging pile recognition is incorrect, the GUI shown in (c) of FIG. 5 can be displayed through the display screen. Alternatively, when detecting that the user confirms that the charging pile recognition is correct and the user wants to replace a charging pile, the GUI shown in (d) of FIG. 5 can be displayed through the display screen.

[0122] Alternatively, when detecting that the user clicks the control 504, or when detecting that the user confirms that the charging pile recognition is incorrect, the vehicle 100 can send an instruction to the cloud server, wherein the instruction is used to instruct to reconstruct the three-dimensional information of the charging area of C Park, or the instruction is used to instruct to re-identify the charging pile shown in (b) of FIG. 5.

[0123] As shown in (c) of FIG. 5, in response to detecting that the user clicks the control 504, the vehicle 100 can display a prompt box 505, wherein the prompt box 505 includes prompt information “Is there information of the charging pile?”. When detecting that the user clicks the control 506, the GUI shown in (d) of FIG. 5 can be displayed.

[0124] As shown in (d) of FIG. 5, in response to detecting that the user clicks the control 506, the vehicle 100 can switch to display an image of the front view direction of a certain position of the charging area of C Park through the display screen and display a prompt box 507, wherein the prompt box 507 includes prompt information “Please select a charging pile”. When detecting that the user selects a certain charging pile, the GUI shown in (e) of FIG. 5 can be displayed.

[0125] As shown in (e) of FIG. 5, in response to detecting that the user selects a certain charging pile, the vehicle 100 can plan a driving path from the current position to the charging pile. At the same time, the vehicle 100 can display a prompt box 508 through the display screen, wherein the prompt box 508 includes prompt information “The driving path from the current position to the charging pile you selected has been planned for you”.

[0126] In the embodiments of the present application, whether the three-dimensional information of the charging area constructed by the cloud server is accurate can be determined based on the feedback of the user. If the three-dimensional information of the charging area is inaccurate, the vehicle can instruct the cloud server to reconstruct the three-dimensional information of the charging area, and at the same time, the vehicle can also inquire the user through prompt information whether there is an accurate charging pile. If the user confirms that there is an accurate charging pile and selects a certain charging pile, the vehicle can also plan a driving path from the current position to the charging pile. In this way, when only the POI of the north gate of C Park or the south gate of C Park is included in the in-vehicle map application, the three-dimensional information of the C Park charging area constructed by the cloud server can enable the vehicle 100 to automatically drive from the current position to the charging pile after starting the intelligent driving function. This avoids the process of taking over the vehicle by the user after driving to the north gate of C Park or the south gate of C Park, and then manually driving to a certain charging pile in the charging area by experience, which helps to improve the capability boundary of vehicle automatic driving and also helps to improve the intelligent driving experience of the user.

[0127] For example, FIG. 6 shows another GUI provided by the embodiments of the present application.

[0128] As shown in FIG. 6, in response to detecting that the user selects the operation of "A shopping mall, underground floor 1, elevator hall No. 1", the vehicle 100 can display an image of a certain position front view direction in the three-dimensional information of the elevator hall No. 1 and the environment around the elevator hall No. 1, which includes an arrow 305 pointing to the entrance of the elevator hall No. 1. At the same time, the vehicle 100 can also display the recommended parking space (for example, the parking space shown by the shadow) and the prompt box 601 through the display screen, and the prompt box 601 includes the prompt information "whether to navigate to the parking space closest to the elevator hall No. 1".

[0129] For example, when detecting that the user clicks the control 602, the vehicle 100 can display the navigation information from the current position of the vehicle to the parking space through the display screen.

[0130] For example, FIG. 7 shows a schematic diagram of a system architecture provided by the embodiments of the present application.

[0131] As shown in FIG. 7, the system architecture includes a vehicle 1, a cloud server and a vehicle 2, wherein the vehicle 1 can send the image of the POI (or the POI and the environment around the POI) and the pose information corresponding to the image to the cloud server; the cloud server can process the data collected by the vehicle 1, obtain the three-dimensional information of the POI, and send the three-dimensional information of the POI to the vehicle 2; and the vehicle 2 can display the three-dimensional information of the POI through the display device.

[0132] The vehicle 1 above can be a vehicle for data collection, and the vehicle 2 can be a vehicle for data use. The vehicle for data collection can also be referred to as a crowd-sourcing vehicle, and the number of crowd-sourcing vehicles can be multiple.

[0133] Exemplarily, the cloud server can use a detection large model to identify general objects, such as a segment anything model (SAM). All contents in the image are segmented and detected, and category matching is performed to realize content detection.

[0134] Exemplarily, the cloud server can identify text information through an optical character recognition (OCR) image-text large model, such as a CLIP4STR technology. The contents in the image are described in text, and the recognized text contents in the image are verified and fused with the detection results obtained by the detection large model to determine the existence of the POI in the image. For example, the image and the position of the automatic door of the elevator hall can be obtained through the detection large model, and the text content “1st elevator hall” obtained through the OCR image-text large model is located near the image of the automatic door of the elevator hall, so it can be determined that the detection result of the detection large model is accurate. At the same time, the cloud server can associate the text content “1st elevator hall” with the image of the automatic door of the elevator hall.

[0135] Exemplarily, the cloud server can enrich and update the existing POI in the base map. For example, the position information of a POI is included in a vehicle-mounted map application, but the three-dimensional information of the POI and the surrounding environment of the POI is not included. The cloud server can process the images collected by one or more vehicles near the POI to obtain the three-dimensional information of the POI. The cloud server can associate the position information of the POI with the three-dimensional information.

[0136] Exemplarily, the cloud server can perform Gaussian spatting environment reconstruction on the images and the poses of the images sent by vehicle 1, and based on the input of sparse view images and corresponding poses, realize dense and continuous rotation and translation viewing in three dimensions.

[0137] Exemplarily, the cloud server can perform super-resolution reconstruction on the images based on the images, the depth information of the images, and the pose information corresponding to the images sent by vehicle 1, to realize enhancement from low-quality images to high-quality images.

[0138] The above processing process of the cloud server can obtain the three-dimensional information of the POI. Alternatively, if the POI is an existing POI in the map application, the cloud server can send the three-dimensional information of the POI to vehicle 2; or if the POI is not included in the map application, the cloud server can send the position information and the three-dimensional information of the POI to vehicle 2.

[0139] Exemplarily, FIG. 8 shows a schematic diagram of a human-computer interaction process provided by an embodiment of the present application. The human-computer interaction process can be performed by the vehicle 100 or the vehicle 2. The human-computer interaction process includes:

[0140] S801, determining whether the recommended sub-region in the POI is accurate.

[0141] Optionally, determining whether the recommended sub-region in the POI is accurate includes: determining whether the recommended sub-region is accurate based on feedback of the user. If the recommended sub-region is not accurate, performing S802; if the recommended sub-region is accurate, the recommended sub-region can be used as a navigation destination and S805 is performed.

[0142] Exemplarily, when detecting that the user searches for a POI, the vehicle 2 can control the prompting device to display the recommended sub-region to the user and prompt the user to determine whether the recommended sub-region is accurate, or control the prompting device to prompt the user to determine whether to navigate to the recommended sub-region.

[0143] Exemplarily, as shown in (a) and (b) of FIG. 5, when detecting that the user searches for the C Park charging area, the vehicle can display a prompt box 503 including prompt information “whether to navigate to the charging pile?” through the display screen.

[0144] Optionally, when detecting that the user clicks the control 504, the vehicle 100 can further prompt the user to confirm that the charging pile identification is incorrect, or the charging pile identification is correct and the user wants to replace a charging pile. When detecting that the user confirms that the charging pile identification is incorrect, S802 and S804 are performed.

[0145] S802, if the recommended sub-region is not accurate, determining whether there is an accurate sub-region in the POI.

[0146] Exemplarily, as shown in (c) of FIG. 5, the vehicle can prompt the user to determine whether there is information of the charging pile in the three-dimensional information.

[0147] If there is an accurate sub-region in the POI, S803 is performed; otherwise, S804 is performed.

[0148] S803, prompting the user to select a sub-region from a plurality of sub-regions in the POI.

[0149] Exemplarily, as shown in (d) of FIG. 5, the vehicle can prompt the user to select a charging pile from a plurality of charging piles in the charging area. When detecting that the user selects a charging pile, the charging pile can be used as a navigation destination.

[0150] S804, send an instruction to the cloud server, the instruction being used to instruct to reconstruct the three-dimensional information of the POI, or the instruction being used to instruct to re-identify the inaccurate sub-region.

[0151] S805, control the display device to display the navigation information from the current position to the navigation destination.

[0152] FIG. 9 shows a schematic flowchart of an image display method 900 provided by an embodiment of the present application. The method 900 can be executed by the vehicle 100 or a vehicle using data described above; or the method 900 can be executed by the computing platform 120 described above; or the method 900 can be executed by a processor, a chip or a circuit in the computing platform 120. The method 900 includes:

[0153] S910, acquire the three-dimensional information of a first point of interest (POI) sent by a cloud server, the three-dimensional information being determined by images and corresponding pose information of the images collected by a camera when one or more vehicles are around the first POI.

[0154] Optionally, taking the vehicle as an example, the vehicle can acquire the three-dimensional information of the first POI from the cloud server through over the air (OTA) technology.

[0155] S920, control the display device to display the three-dimensional information.

[0156] The current POI can only be presented in the form of text or planar information. For a POI of a complex region, it is difficult to confirm the position in the range only by text and a plan. For example, when a user searches for a park through a map application, the search result can only include the entrance position of the park. If the user wants to go to the vicinity of a building in the park, the user can only manually drive the vehicle to find the building after the vehicle drives to the entrance position of the park, which increases the time for the driver to navigate to the building and leads to a poor driving experience of the user.

[0157] Based on the technical solution described above, by receiving the three-dimensional information of the park sent by the cloud server, the three-dimensional information can include images of each building in the park, etc., which can enable the user to have a full understanding of the park through the three-dimensional information, thereby facilitating the user to confirm the destination (for example, a building in the park) and helping to improve the experience of the user.

[0158] Optionally, before the three-dimensional information is displayed by the display device, the method further includes: detecting an instruction of the user, the instruction being used to instruct to search for the first location.

[0159] For example, as shown in (b) of FIG. 4, when it is detected that the user inputs "B Mall" in the search box 401 and clicks the underground parking lot of B Mall in the search result, the display screen can be controlled to display the three-dimensional information of the underground parking lot of B Mall.

[0160] Optionally, the three-dimensional information of the first POI sent by the cloud server comprises: the three-dimensional information of the first POI and the surrounding environment of the first POI sent by the cloud server.

[0161] For example, as shown in (d) of FIG. 3, when it is detected that the user inputs "A Mall" in the search box 303 and clicks the underground first floor elevator hall of A Mall in the search result, the display screen can be controlled to display the three-dimensional information of the first floor elevator hall and the surrounding environment of the first floor elevator hall.

[0162] For example, as shown in (e) of FIG. 3, taking the entrance of the elevator hall as an example, the three-dimensional information of the elevator hall and the surrounding environment of the elevator hall can be displayed by the display device, so that the user can conveniently view the information of the parking space closest to the entrance of the elevator hall, thereby facilitating the user to drive the vehicle to the parking space. In this way, the user can avoid relying on experience to find the entrance of the elevator hall in the underground garage, which helps to improve the efficiency of the user driving from the current location to the destination.

[0163] Alternatively, after detecting that the user starts the intelligent driving function, the vehicle can automatically drive from the current location to the parking space. In this way, the process of the user taking over the vehicle after the vehicle automatically drives to the entrance of the underground garage and manually driving the vehicle to the parking space around the elevator hall according to the user's experience is avoided, which helps to expand the capability boundary of the vehicle automatic driving, thereby helping to improve the intelligent driving experience of the user.

[0164] Optionally, the three-dimensional information of the first POI is determined by the cloud server based on one or more images uploaded when one or more vehicles are around the first POI and pose information of the images.

[0165] For example, the cloud server can perform the following operations to obtain the three-dimensional information of the first POI: segmenting the images uploaded when one or more vehicles are around the first POI to obtain general objects in different regions of the images and their categories; extracting the text in the images using a text extraction technique and matching the text content with the general objects; reconstructing the environment and positioning based on the images and the pose information corresponding to the images; and performing super-resolution reconstruction of the images based on the images, depth information of the images, and the pose information corresponding to the images, to realize enhancement from low-quality images to high-quality images.

[0166] Optionally, taking the three-dimensional information as a three-dimensional model for example, the method 900 further includes: when detecting a first touch operation of the user on the three-dimensional model, controlling the display device to display the three-dimensional model rotating or panning.

[0167] Optionally, taking the three-dimensional information as a three-dimensional model for example, the method 900 further includes: when detecting a second touch operation of the user on the three-dimensional model, controlling the display device to display an image of an orthographic view at a first position in the three-dimensional model.

[0168] Optionally, the method 900 further includes: controlling the display device to display first prompt information for requesting the user to confirm whether to navigate to the first POI; and when obtaining a first instruction of the user, the first instruction indicating to navigate to the first POI, controlling the display device to display navigation information from a current position of the terminal device to the first POI.

[0169] For example, as shown in (e) of FIG. 3, the vehicle can display prompt information "Please confirm whether to navigate to the No. 1 elevator hall?" through the display screen. When detecting an operation of the user clicking the control 307, the vehicle can display navigation information from the current position to the No. 1 elevator hall through the display screen.

[0170] In the embodiment of the application, through the feedback of the user, the vehicle can detect the accuracy of the three-dimensional information of the first POI constructed by the cloud server. If the user feeds back to navigate to the first POI, it can be confirmed that the information of the first POI is accurate, so that the navigation information from the current position to the first POI can be displayed.

[0171] Optionally, the terminal device is a vehicle, and the method 900 further includes: according to the navigation information, controlling the vehicle to travel from the current position to the first POI.

[0172] Taking the first POI as the above-mentioned No. 1 elevator hall for example, the No. 1 elevator hall can be located on the first underground floor of A shopping mall. The vehicle-mounted map application can only include the entrance position of the first underground floor of A shopping mall, and the current vehicle can automatically drive from the current position to the entrance position of the first underground floor of A shopping mall. After the vehicle arrives at the entrance position, the vehicle will prompt the user to take over the vehicle, and then the user will manually drive the vehicle to the vicinity of the No. 1 elevator hall by experience. In this way, the user needs to manually drive the vehicle from the entrance to the No. 1 elevator hall, which will increase the time length from the current position to the No. 1 elevator hall, and affect the driving experience of the user.

[0173] In the embodiments of the present application, by receiving the position information and three-dimensional information of the No. 1 elevator hall sent by the cloud server, the user can conveniently view the three-dimensional information of the No. 1 elevator hall and plan the driving track from the current position to the No. 1 elevator hall. The vehicle can automatically drive from the current position to the No. 1 elevator hall or the nearest parking space of the No. 1 elevator hall. In this way, the process that the user takes over the vehicle and manually drives the vehicle to the No. 1 elevator hall according to the user's experience after the vehicle automatically drives to the entrance of the basement of the A shopping mall is avoided, which helps to expand the capability boundary of the vehicle automatic driving, thereby helping to improve the intelligent driving experience of the user.

[0174] Optionally, according to the navigation information, the vehicle is controlled to drive from the current position to the first POI, including: according to the navigation information, the vehicle is controlled to drive from the current position to the nearest drop-off location of the first POI.

[0175] For example, after detecting that the user starts the intelligent driving function, the vehicle can automatically drive to the nearest drop-off location of the No. 1 elevator hall (such as the column shown in (e) of FIG. 3). After detecting that the user gets off at the nearest drop-off location of the No. 1 elevator hall, the vehicle can automatically park in any reasonable parking space.

[0176] Optionally, the three-dimensional information includes images of each sub-region in the plurality of sub-regions and pose information of the images of each sub-region, and the method further includes: when detecting that the user selects a first sub-region in the plurality of sub-regions, controlling the display device to display navigation information from the current position of the terminal device to the first sub-region.

[0177] In the embodiments of the present application, after the user views the three-dimensional information, the user can select a certain sub-region (navigation destination) from the plurality of sub-regions in the parking lot or charging area, so that the terminal device can display the navigation information from the current position to the sub-region.

[0178] For example, the first POI is a park, and the first sub-region is a certain building (for example, a sculpture) in the park.

[0179] For example, the first POI is an underground parking lot, and the first sub-region is a certain parking space in the underground parking lot.

[0180] For example, the first POI is a charging area, and the first sub-region is a certain charging pile in the charging area.

[0181] Optionally, the three-dimensional information comprises an image of each of the plurality of sub-regions and pose information of the image of each of the plurality of sub-regions, and the method further comprises: controlling the display device to recommend a first sub-region to the user and controlling the display device to display second prompt information for requesting the user to confirm whether to navigate to the first sub-region, the plurality of sub-regions comprising the first sub-region; and when a second instruction of the user is acquired, the second instruction being used to instruct to navigate to the first sub-region, controlling the display device to display navigation information from a current position of the terminal device to the first sub-region.

[0182] For example, as shown in FIG. 6, the vehicle can display, through the display screen, three-dimensional information of the No. 1 elevator hall and the surrounding environment of the No. 1 elevator hall, and the first sub-region is a parking space closest to the No. 1 elevator hall. The three-dimensional information comprises an arrow 305, information of the parking space, information of a column, information of an entrance of the No. 1 elevator hall, and information of a wall surface, and the arrow 305 is used to indicate the entrance of the No. 1 elevator hall. Meanwhile, the shadow part in the three-dimensional information indicates the parking space closest to the No. 1 elevator hall. When an operation of the user clicking the control 602 is detected, the vehicle can display, through the display screen, navigation information from the current position to the parking space.

[0183] Optionally, the terminal device is a vehicle, and the method further comprises: controlling the vehicle to travel from the current position to the first sub-region according to the navigation information.

[0184] Optionally, the three-dimensional information comprises an image of each of the plurality of sub-regions and pose information of the image of each of the plurality of sub-regions, and the method further comprises: controlling the display device to recommend a second sub-region to the user and controlling the display device to display third prompt information for requesting the user to confirm whether to navigate to the second sub-region, the plurality of sub-regions comprising the second sub-region; and when a third instruction of the user is acquired, the third instruction being used to instruct not to navigate to the second sub-region, sending a fourth instruction to the cloud server, the fourth instruction being used to instruct the cloud server to re-identify the three-dimensional information or the second sub-region.

[0185] For example, the first POI can be a charging area of C Park, and the second sub-region can be the shadow part region as shown in (b) of FIG. 5. When the vehicle detects an operation of the user searching for the charging area of C Park, the vehicle can display, through the display screen, a prompt box 503 and recommend a certain charging pile in the charging area to the user, and the prompt box 503 comprises prompt information “whether to navigate to the charging pile?”. When an operation of the user clicking the control 504 is detected, the vehicle can send the fourth instruction to the cloud server.

[0186] In the embodiments of the present application, after the user does not navigate to the second sub-region, it can be confirmed that the three-dimensional information constructed by the cloud server or the second sub-region can be inaccurate, so as to instruct the cloud server to re-construct the three-dimensional information or re-identify the second sub-region. In this way, the accuracy of the three-dimensional information constructed by the cloud server can be verified through the feedback of the user, and the three-dimensional information is re-constructed in the case of inaccuracy, which helps to improve the accuracy of the three-dimensional information displayed by the terminal device.

[0187] Optionally, the method 900 further includes: controlling the display device to display fourth prompt information, the fourth prompt information being used to request the user to select from the plurality of sub-regions; and when a fifth instruction of the user is acquired, controlling the display device to display navigation information from the current position of the terminal device to a third sub-region, the fifth instruction indicating that the user selects the third sub-region, and the plurality of sub-regions including the third sub-region.

[0188] For example, as shown in (c) of FIG. 5, when detecting that the user clicks the control 504, the vehicle can display the prompt information "Is there information about the charging pile?" on the display screen. When detecting that the user clicks the control 506, the vehicle can display the prompt information "Please select a charging pile". When detecting that the user selects information about a charging pile, the vehicle can display navigation information from the current position to the charging pile on the display screen.

[0189] In the embodiments of the present application, after prompting the user to select from the plurality of sub-regions and detecting that the user selects a third sub-region, it can be confirmed that there are accurate and inaccurate charging piles in the first POI. In this way, when it is determined through the feedback of the user that some sub-regions in the three-dimensional information are inaccurate and some sub-regions are accurate, the display device can display navigation information from the current position to the accurate sub-region selected by the user, which helps to improve the navigation experience of the user.

[0190] Optionally, the terminal device is a vehicle, and the method further includes: controlling the vehicle to travel from the current position to the third sub-region according to the navigation information.

[0191] FIG. 10 shows a schematic block diagram of an image display device 1000 provided by the embodiments of the present application. The device 1000 includes: an acquisition unit 1010, configured to acquire three-dimensional information of a first point of interest (POI) sent by a cloud server, the three-dimensional information being determined by an image collected by a camera when one or more vehicles are around the first POI and pose information corresponding to the image; and a control unit 1020, configured to control a display device to display the three-dimensional information.

[0192] Optionally, the control unit 1020 is further configured to control the display device to display first prompt information, the first prompt information being used to request the user to confirm whether to navigate to the first POI; and control the display device to display navigation information from a current location of the terminal device to the first POI when the acquisition unit acquires a first instruction of the user, the first instruction indicating to navigate to the first POI.

[0193] Optionally, the terminal device is a vehicle, and the control unit 1020 is further configured to control the vehicle to travel from the current location to the first POI according to the navigation information.

[0194] Optionally, the three-dimensional information includes an image of each sub-region in a plurality of sub-regions and pose information of the image of each sub-region, and the apparatus 1000 further includes a detection unit configured to detect an operation of the user selecting a first sub-region from the plurality of sub-regions; and the control unit 1020 is further configured to control the display device to display navigation information from a current location of the terminal device to the first sub-region in response to detecting the operation of selecting the first sub-region.

[0195] Optionally, the three-dimensional information includes an image of each sub-region in a plurality of sub-regions and pose information of the image of each sub-region, and the control unit 1020 is further configured to control the display device to recommend a first sub-region to the user and control the display device to display second prompt information, the second prompt information being used to request the user to confirm whether to navigate to the first sub-region, the plurality of sub-regions including the first sub-region; and control the display device to display navigation information from a current location of the terminal device to the first sub-region when the acquisition unit 1010 acquires a second instruction of the user, the second instruction indicating to navigate to the first sub-region.

[0196] Optionally, the first sub-region is a parking space.

[0197] Optionally, the terminal device is a vehicle, and the control unit 1020 is further configured to control the vehicle to travel from the current location to the first sub-region according to the navigation information.

[0198] Optionally, the three-dimensional information includes an image of each sub-region in a plurality of sub-regions and pose information of the image of each sub-region, and the control unit 1020 is further configured to control the display device to recommend a second sub-region to the user and control the display device to display third prompt information, the third prompt information being used to request the user to confirm whether to navigate to the second sub-region, the plurality of sub-regions including the second sub-region; and the apparatus 1000 further includes a sending unit configured to send a fourth instruction to the cloud server when the acquisition unit acquires a third instruction of the user, the third instruction indicating not to navigate to the second sub-region, the fourth instruction indicating the cloud server to re-identify the three-dimensional information or the second sub-region.

[0199] Optionally, the control unit 1020 is further configured to control the display device to display fourth prompt information, the fourth prompt information being used to request the user to select from the plurality of sub-regions; and when the acquisition unit 1010 acquires a fifth instruction of the user, the fifth instruction indicating that the user selects the third sub-region, the plurality of sub-regions including the third sub-region, control the display device to display navigation information from the current position of the terminal device to the third sub-region.

[0200] Optionally, the terminal device is a vehicle, and the control unit 1020 is further configured to control the vehicle to travel from the current position to the third sub-region according to the navigation information.

[0201] Optionally, the first POI is a parking lot or a charging area.

[0202] Optionally, the function implemented by the acquisition unit 1010 can be implemented by a processor, a circuit or a chip in the computing platform 120. For example, the function implemented by the acquisition unit 1010 is implemented by the processor 121, and the processor 121 can acquire the three-dimensional information of the POI.

[0203] Optionally, the function implemented by the control unit 1020 can be implemented by a processor, a circuit or a chip in the computing platform 120. For example, the function implemented by the control unit 1020 is implemented by the processor 122, and the processor 122 can control the display device to display the three-dimensional information of the POI.

[0204] The functions implemented by the acquisition unit 1010 and the control unit 1020 can be implemented by the same processor or different processors, and the embodiments of the present application do not make a specific limitation in this regard.

[0205] It should be understood that the division of units in the above apparatus is only a logical functional division, and all or part of them can be integrated into a physical entity or physically separated when actually implemented. In addition, the units in the apparatus can be implemented in the form of processor calling software; for example, the apparatus includes a processor connected with a memory, and the memory stores instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the units of the apparatus, wherein the processor is, for example, a general processor such as a CPU or a microprocessor, and the memory is an internal memory of the apparatus or an external memory of the apparatus. Alternatively, the units in the apparatus can be implemented in the form of hardware circuit, and the functions of part or all of the units can be realized by the design of the hardware circuit, which can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of part or all of the units are realized by the design of the logical relationship of elements in the circuit; for example, in another implementation, the hardware circuit is a PLD, and taking FPGA as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of part or all of the units. All units of the above apparatus can be implemented in the form of processor calling software, or all units can be implemented in the form of hardware circuit, or part of the units can be implemented in the form of processor calling software, and the remaining part can be implemented in the form of hardware circuit.

[0206] In the embodiments of the present application, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as CPU, microprocessor, GPU, or DSP, etc. In another implementation, the processor can realize certain functions through the logical relationship of hardware circuit, and the logical relationship of the hardware circuit is fixed or can be reconfigured, such as ASIC or PLD implemented hardware circuit, such as FPGA. In the reconfigurable hardware circuit, the process of the processor loading the configuration document to realize the configuration of the hardware circuit can be understood as the process of the processor loading the instructions to realize the functions of part or all of the units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as a kind of ASIC, such as NPU, TPU, DPU, etc.

[0207] It can be seen that each unit in the above apparatus can be one or more processors (or processing circuits) configured to implement the above methods, such as CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0208] Furthermore, all or some of the units in the above apparatus can be integrated or can be independent. In one implementation, these units are integrated to be implemented in the form of SoC. The SoC can include at least one processor for implementing the functions of the above methods or the units of the apparatus, and the at least one processor can be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, and the like.

[0209] The embodiments of the present application further provide an image display apparatus, which comprises a processing unit and a storage unit, wherein the storage unit is configured to store instructions, and the processing unit is configured to execute the instructions stored in the storage unit, so that the apparatus executes the method or the steps performed by the above embodiments.

[0210] Optionally, if the image display apparatus is located in a vehicle, the processing unit can be one or more of the processors 121-12n shown in FIG. 1.

[0211] The embodiments of the present application further provide an image display system, which comprises a display apparatus and a computing platform, and the computing platform comprises the above image display apparatus 1000.

[0212] The embodiments of the present application further provide a vehicle, which can comprise the above image display apparatus 1000 or the above image display system.

[0213] The embodiments of the present application further provide a computer program product, which comprises computer program code, and when the computer program code is run on a computer, the computer is caused to execute the method in the above embodiments.

[0214] The embodiments of the present application further provide a computer readable medium, which stores program code, and when the computer program code is run on a computer, the computer is caused to execute the method in the above embodiments.

[0215] The embodiments of the present application further provide a chip, which comprises a circuit, and the circuit is configured to execute the method in the above embodiments.

[0216] In the implementation process, the steps of the above method can be completed by the integrated logic circuit of hardware in the processor or the instructions in the form of software. The method disclosed in combination with the embodiments of the present application can be directly embodied as hardware processor execution completion, or executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, register, etc. The storage medium is located in the memory, and the processor reads the information in the memory, and combines the hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0217] It should be understood that in the embodiments of the present application, the memory can include read-only memory and random access memory, and provide instructions and data to the processor.

[0218] It should also be understood that in various embodiments of the present application, the size of the sequence number of each process described above does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0219] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0220] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0221] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division, and actual implementation can have another division manner. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0222] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0223] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0224] The functions, if realized in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0225] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An image display method characterized by, The method comprises: obtaining three-dimensional information of a first point of interest (POI) sent by a cloud server, the three-dimensional information being determined by images collected by a camera when one or more vehicles are around the first POI and pose information corresponding to the images; controlling a display device to display the three-dimensional information.

2. The method of claim 1, wherein, The method further comprises: controlling the display device to display first prompt information for requesting a user to confirm whether to navigate to the first POI; when a first instruction of the user is obtained, controlling the display device to display navigation information from a current location of a terminal device to the first POI, the first instruction indicating navigation to the first POI.

3. The method of claim 2, wherein, The terminal device is a vehicle, and the method further comprises: controlling the vehicle to travel from the current location to the first POI according to the navigation information.

4. The method of claim 1, wherein, The three-dimensional information comprises images of each sub-region in a plurality of sub-regions and pose information of the images of each sub-region, and the method further comprises: when an operation of the user selecting a first sub-region from the plurality of sub-regions is detected, controlling the display device to display navigation information from a current location of a terminal device to the first sub-region.

5. The method of claim 1, wherein, The three-dimensional information comprises images of each sub-region in a plurality of sub-regions and pose information of the images of each sub-region, and the method further comprises: controlling the display device to recommend a first sub-region to a user and controlling the display device to display second prompt information for requesting the user to confirm whether to navigate to the first sub-region, the plurality of sub-regions comprising the first sub-region; when a second instruction of the user is obtained, controlling the display device to display navigation information from a current location of a terminal device to the first sub-region, the second instruction indicating navigation to the first sub-region.

6. The method of claim 5, wherein, The first sub-region is a parking space.

7. The method according to any one of claims 4 to 6, characterized in that, The terminal device is a vehicle, and the method further comprises: controlling the vehicle to travel from the current location to the first sub-region according to the navigation information.

8. The method of claim 1, wherein, The three-dimensional information comprises images of each sub-region in a plurality of sub-regions and pose information of the images of each sub-region, and the method further comprises: controlling the display device to recommend a second sub-region to a user and controlling the display device to display third prompt information for requesting the user to confirm whether to navigate to the second sub-region, the plurality of sub-regions comprising the second sub-region; when a third instruction of the user is obtained, sending a fourth instruction to the cloud server, the third instruction indicating not to navigate to the second sub-region, and the fourth instruction indicating the cloud server to re-identify the three-dimensional information or the second sub-region.

9. The method of claim 8, wherein, The method further comprises: controlling the display device to display fourth prompt information for requesting the user to select from the plurality of sub-regions; when a fifth instruction of the user is obtained, controlling the display device to display navigation information from a current location of a terminal device to a third sub-region, the fifth instruction indicating that the user selects the third sub-region, and the plurality of sub-regions comprising the third sub-region.

10. The method according to claim 8 or 9, characterized in that, The terminal device is a vehicle, and the method further comprises: According to the navigation information, controlling the vehicle to travel from the current position to the third sub-region.

11. The method according to any one of claims 4 to 10, characterized in that, The first POI is a parking lot or a charging area.

12. An image display device, characterized by comprising: Comprise: An acquisition unit, configured to acquire three-dimensional information of a first point of interest (POI) sent by a cloud server, the three-dimensional information being determined by images collected by a camera when one or more vehicles are around the first POI and pose information corresponding to the images; A control unit, configured to control a display device to display the three-dimensional information.

13. The apparatus of claim 12, wherein The control unit is further configured to control the display device to display first prompt information, the first prompt information being used to request a user to confirm whether to navigate to the first POI; When the acquisition unit acquires a first instruction of the user, the control unit controls the display device to display navigation information from a current position of a terminal device to the first POI, the first instruction indicating navigation to the first POI.

14. The apparatus of claim 13, wherein, The terminal device is a vehicle, The control unit is further configured to, according to the navigation information, control the vehicle to travel from the current position to the first POI.

15. The apparatus of claim 12, wherein, The three-dimensional information comprises images of each sub-region in a plurality of sub-regions and pose information of the images of each sub-region, and the apparatus further comprises: A detection unit, configured to detect an operation of the user selecting a first sub-region from the plurality of sub-regions; The control unit is further configured to, in response to detecting the operation of selecting the first sub-region, control the display device to display navigation information from a current position of a terminal device to the first sub-region.

16. The apparatus of claim 12, wherein, The three-dimensional information comprises images of each sub-region in a plurality of sub-regions and pose information of the images of each sub-region, The control unit is further configured to control the display device to recommend a first sub-region to the user and control the display device to display second prompt information, the second prompt information being used to request the user to confirm whether to navigate to the first sub-region, the plurality of sub-regions comprising the first sub-region; When the acquisition unit acquires a second instruction of the user, the control unit controls the display device to display navigation information from a current position of a terminal device to the first POI, the second instruction being used to indicate navigation to the first sub-region.

17. The apparatus of claim 16, wherein, The first sub-region is a parking space.

18. The apparatus of any one of claims 15-17, wherein, The terminal device is a vehicle, and the control unit is further configured to: According to the navigation information, controlling the vehicle to travel from the current position to the first sub-region.

19. The apparatus of claim 12, wherein, The three-dimensional information comprises images of each sub-region in a plurality of sub-regions and pose information of the images of each sub-region, The control unit is further configured to control the display device to recommend a second sub-region to the user and control the display device to display third prompt information, the third prompt information being used to request the user to confirm whether to navigate to the second sub-region, the plurality of sub-regions comprising the second sub-region; The apparatus further comprises: The sending unit is configured to send a fourth instruction to the cloud server when the third instruction for indicating not to navigate to the second sub-region is obtained by the obtaining unit, and the fourth instruction is used to instruct the cloud server to re-identify the three-dimensional information or the second sub-region.

20. The apparatus of claim 19, wherein, The control unit is further configured to control the display device to display fourth prompt information, the fourth prompt information being used to request a user to select from the plurality of sub-regions; When the fifth instruction for indicating the user to select the third sub-region is obtained by the obtaining unit, the control unit controls the display device to display navigation information from a current position of the terminal device to the third sub-region, and the plurality of sub-regions includes the third sub-region.

21. The apparatus of claim 19 or 20, wherein, The terminal device is a vehicle, The control unit is further configured to control the vehicle to travel from the current position to the third sub-region according to the navigation information.

22. The apparatus of any one of claims 15-21, wherein, The first POI is a parking lot or a charging area.

23. An image display device, characterized by comprising: The system comprises: a memory configured to store a computer program; a processor configured to execute the computer program stored in the memory, so that the apparatus executes the method of any one of claims 1-11.

24. An image display system characterized by comprising: The system comprises a display device and a computing platform, and the computing platform comprises the apparatus of any one of claims 12-23.

25. A vehicle characterized by The apparatus of any one of claims 12-23, or the system of claim 24.

26. A computer-readable storage medium, characterized in that, instructions stored thereon, the instructions being executable by a processor to cause the processor to implement the method of any one of claims 1-11.

27. A computer program product, characterised in that, The computer program product comprises computer program code which, when executed on a computer, causes the computer to implement the method of any one of claims 1-11.

28. A chip, characterized by The chip comprises a circuit configured to execute the method of any one of claims 1-11.

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