Image display method and apparatus

Abstract

This application relates to an image display method and apparatus. The method includes: when displaying an area image acquired by an image acquisition device on an in-vehicle map of a target vehicle, in response to a switching operation between the acquisition area and the target area on the in-vehicle map, receiving geographical location information of the target area sent by the target vehicle; determining pose adjustment data based on the geographical location information and the current pose data of the image acquisition device; adjusting the pose of the image acquisition device according to the pose adjustment data, and acquiring an area image of the target area after completing the pose adjustment; and sending the area image of the target area to the target vehicle. This method allows users to see the area image of the target area on the in-vehicle map while simultaneously and intuitively viewing the geographical location corresponding to the area image.

Description

Technical Field

[0001] This application relates to the field of image technology, and in particular to an image display method and apparatus. Background Technology

[0002] With the development of automotive technology, vehicles can now interact with drones. Drones can transmit video streams captured by their onboard cameras to the vehicle, displaying the video on the vehicle's screen and allowing the driver to observe scenes in different areas outside the vehicle.

[0003] In related technologies, video streams can be overlaid on the vehicle's in-vehicle map. However, the above video stream display method makes it impossible for users to see the specific location of the video stream on the in-vehicle map, thus lacking awareness of the geographical location corresponding to the video stream. Summary of the Invention

[0004] Therefore, it is necessary to provide an image display method and apparatus to address the aforementioned technical problems.

[0005] In a first aspect, this application provides an image display method applied to a portable image acquisition device, the image display method comprising:

[0006] When the image of the area captured by the image acquisition device is displayed on the in-vehicle map of the target vehicle, in response to the switching operation of switching the acquisition area to the target area in the in-vehicle map, the geographical location information of the target area sent by the target vehicle is received.

[0007] Based on the geographic location information and the current pose data of the image acquisition device, determine the pose adjustment data;

[0008] Based on the pose adjustment data, the pose of the image acquisition device is adjusted, and the regional image of the target area is acquired after the pose adjustment is completed.

[0009] The target area's regional image is sent to the target vehicle, enabling the target vehicle to control the display of the regional image of the target area at the corresponding location in the vehicle's map, based on the geographic location information.

[0010] In the above image display method, after the acquisition area is switched to the target area, the image acquisition device can determine the pose adjustment data based on the geographical location information of the target area sent by the target vehicle and its own current pose data. This allows the pose of the image acquisition device to be adjusted to match the geographical location information of the target area, and the area image of the target area can be accurately acquired. In this way, after receiving the area image of the target area, the target vehicle can synchronously display the area image at the corresponding location of the target area on the vehicle map. This allows the user to not only see the area image of the target area on the vehicle map, but also intuitively see the geographical location corresponding to the area image (i.e., the corresponding location of the target area), thereby enhancing the perception of the geographical location corresponding to the area image to a certain extent.

[0011] Furthermore, in the aforementioned image display method, the position and attitude of the image acquisition device can be adjusted based on pose adjustment data. Not only can the position adjustment control the image acquisition device to accurately reach the corresponding position of the target area, but the attitude adjustment can also control the acquisition range of the image acquisition device to cover the target area. Compared with related technical solutions that only control the image acquisition device to move to the user-specified acquisition position and then acquire the image, the aforementioned image display method enables the image acquisition device to accurately focus on the target area, thereby acquiring a more accurate and comprehensive regional image. Subsequently, the regional image of the target area can be clearly and completely displayed at the corresponding position of the target area in the vehicle map.

[0012] In one embodiment, determining pose adjustment data based on geographic location information and the current pose data of the image acquisition device includes: determining the area coverage between the allowed acquisition range and the target area based on the geographic location information and the allowed acquisition range of the image acquisition device; and determining pose adjustment data based on the area coverage and the current pose data of the image acquisition device.

[0013] In the above embodiments, based on the regional coverage between the allowed acquisition range and the target area and the current pose data of the image acquisition device, the pose adjustment data can be accurately determined, thereby enabling more accurate pose adjustment of the image acquisition device. This allows the acquisition field of view of the image acquisition device to correspond to the target area, thus enabling more precise acquisition of the regional image of the target area.

[0014] In one embodiment, the pose adjustment data includes position adjustment data and attitude adjustment data. The current pose data includes the current position information of the image acquisition device. The pose adjustment data is determined based on the area coverage and the current pose data of the image acquisition device, including: determining position adjustment data based on geographical location information and current position information when the allowed acquisition range does not completely cover the target area; and determining attitude adjustment data based on geographical location information, current position information, and the current acquisition angle of the image acquisition device.

[0015] In the above embodiments, when the allowed acquisition range does not completely cover the target area, the position adjustment data can be determined relatively accurately based on the geographical location information and the current position information. Similarly, the posture adjustment data can be determined relatively accurately based on the geographical location information, the current position information, and the current acquisition angle of the image acquisition device. Thus, after adjusting the pose of the image acquisition device using the position adjustment data and the posture adjustment data, the acquisition field of view of the image acquisition device corresponds to the target area, thereby enabling the acquisition of regional images of the target area with relatively high accuracy.

[0016] In one embodiment, the current acquisition angle includes the current tilt angle and the current azimuth angle; determining attitude adjustment data based on geographic location information, current location information, and the current acquisition angle of the image acquisition device includes: determining a first adjustment angle of the image acquisition device in the vertical direction based on geographic location information, current location information, and the current tilt angle; and determining a second adjustment angle of the image acquisition device in the horizontal direction based on geographic location information, current location information, and the current azimuth angle; wherein the attitude adjustment data includes the first adjustment angle and / or the second adjustment angle.

[0017] In the above embodiments, based on the geographical location information, the current location information, and the current tilt angle, the first adjustment angle of the image acquisition device in the vertical direction can be determined relatively accurately, and based on the geographical location information, the current location information, and the current azimuth angle, the second adjustment angle of the image acquisition device in the horizontal direction can be determined relatively accurately. Thus, based on the first adjustment angle and the second adjustment angle, the posture of the image acquisition device can be adjusted relatively accurately, so that after the posture is adjusted, the image acquisition device can acquire the regional image of the target area more accurately.

[0018] In one embodiment, the attitude adjustment data is determined based on the geographic location information, the current location information, and the current acquisition angle of the image acquisition device, including: obtaining the current acquisition offset of the image acquisition device; correcting the current acquisition angle based on the current acquisition offset; and determining the attitude adjustment data based on the geographic location information, the current location information, and the corrected current acquisition angle.

[0019] In the above embodiments, by correcting the current acquisition angle based on the current acquisition offset, the influence of optical axis deviation on the acquisition angle of the image acquisition device can be reduced to a certain extent. Thus, based on the corrected current acquisition angle, the attitude adjustment data can be determined more accurately.

[0020] In one embodiment, the pose adjustment data includes posture adjustment data, and the current pose data includes the current position information of the image acquisition device; determining the pose adjustment data based on the area coverage and the current pose data of the image acquisition device includes: when the allowed acquisition range completely covers the target area and the current area of ​​the image acquisition device does not completely cover the target area, determining the posture adjustment data based on the geographical location information, the current position information and the current acquisition angle of the image acquisition device.

[0021] In the above embodiments, when the allowed acquisition range completely covers the target area and the current area of ​​the image acquisition device does not completely cover the target area, by determining the posture adjustment data, it is possible to adjust the posture of the image acquisition device so that the allowed acquisition range covers the target area, thereby acquiring a regional image of the target area after the posture of the image acquisition device is adjusted.

[0022] In one embodiment, adjusting the pose of an image acquisition device based on pose adjustment data includes: acquiring an adjustment rate for adjusting the pose of the image acquisition device; and adjusting the pose of the image acquisition device based on the adjustment rate and the pose adjustment data.

[0023] In the above embodiments, the pose adjustment of the image acquisition device can be completed in a timely manner based on the adjustment rate and pose adjustment data, which to a certain extent meets the need for rapid image switching.

[0024] Secondly, this application also provides an image display method applied to a target vehicle, including:

[0025] In response to the switching operation between the data collection area and the target area in the vehicle map, the geographical location information corresponding to the target area is obtained;

[0026] The geographic location information is sent to the mobile image acquisition device, so that the image acquisition device can determine the pose adjustment data based on the geographic location information and the current pose data of the image acquisition device, adjust the pose of the image acquisition device according to the pose adjustment data, and acquire the regional image of the target area after the pose adjustment is completed.

[0027] Receives a region image of the target area acquired by an image acquisition device;

[0028] Based on geographic location information, the area image of the target area is displayed at the corresponding location of the target area on the vehicle map.

[0029] In the aforementioned image display method, after the acquisition area is switched to the target area, the target vehicle sends the geographical location information corresponding to the target area to the image acquisition device. This allows the image acquisition device to determine pose adjustment data based on the geographical location information of the target area sent by the target vehicle and its own current pose data. As a result, the pose of the image acquisition device can be adjusted to match the geographical location information of the target area, and the regional image of the target area can be accurately acquired. Thus, after receiving the regional image of the target area, the target vehicle can synchronously display the regional image at the corresponding location of the target area on the vehicle map. This allows users to not only see the regional image of the target area on the vehicle map, but also intuitively see the geographical location corresponding to the regional image (i.e., the corresponding location of the target area), thereby enhancing the perception of the geographical location corresponding to the regional image to a certain extent.

[0030] In one embodiment, obtaining the geographic location information corresponding to the target area includes: determining the coordinate information of the target area in the vehicle map; and determining the geographic location information corresponding to the target area based on the correspondence between the coordinate information of each area in the vehicle map and the geographic location information, as well as the coordinate information of the target area in the vehicle map.

[0031] In the above embodiments, based on the correspondence between the coordinate information and geographical location information of each area in the vehicle map, and the coordinate information of the target area in the vehicle map, the geographical location information corresponding to the target area can be determined more accurately. This allows the image acquisition device to determine the pose adjustment data more accurately based on the geographical location information of the target area sent by the target vehicle and its own current pose data.

[0032] In one embodiment, the image display method further includes: acquiring the switching rate of the switching operation; determining the adjustment rate based on the switching rate; and sending the adjustment rate to the image acquisition device so that the image acquisition device can adjust its pose based on the adjustment rate and pose adjustment data.

[0033] In the above embodiments, the adjustment rate matching the user's image switching needs can be determined based on the switching rate. This allows the image acquisition device to adjust its pose in a timely manner based on the adjustment rate and pose adjustment data, thereby meeting the need for rapid image switching to a certain extent.

[0034] In one embodiment, obtaining the switching rate of the switching operation includes: when the switching operation is a dragging operation on an image display box in the vehicle map, determining the switching rate of the switching operation based on the dragging speed of the dragging operation; when the switching operation is a clicking operation on a target area in the vehicle map, determining the switching rate of the switching operation based on the number of clicks in the first time period.

[0035] In the above embodiments, the switching rate is determined in different ways for different switching operations, so that the switching rate can be determined in a timely manner when each switching operation is triggered, thereby meeting the need for fast image switching to a certain extent.

[0036] Thirdly, this application also provides an image display device configured in a movable image acquisition device, the image display device comprising:

[0037] The receiving module is used to receive the geographic location information of the target area sent by the target vehicle in response to a switching operation of switching the acquisition area to the target area in the vehicle map when the area image acquired by the image acquisition device is displayed in the vehicle map of the target vehicle.

[0038] The determination module is used to determine pose adjustment data based on geographic location information and the current pose data of the image acquisition device;

[0039] The adjustment module is used to adjust the pose of the image acquisition device according to the pose adjustment data, and to acquire the regional image of the target area after the pose adjustment is completed.

[0040] The sending module is used to send the area image of the target area to the target vehicle, so that the target vehicle can control the display of the area image of the target area at the corresponding location of the target area on the vehicle map according to the geographical location information.

[0041] Fourthly, this application also provides an image display device configured in a target vehicle, the image display device comprising:

[0042] The first acquisition module is used to respond to the switching operation of switching the collection area to the target area in the vehicle map and acquire the geographical location information corresponding to the target area;

[0043] The first sending module is used to send geographic location information to the mobile image acquisition device, so that the image acquisition device can determine pose adjustment data based on the geographic location information and the current pose data of the image acquisition device, adjust the pose of the image acquisition device according to the pose adjustment data, and acquire regional images of the target area after the pose adjustment is completed.

[0044] The receiving module is used to receive area images of the target area acquired by the image acquisition device;

[0045] The control module is used to control the display of the area image of the target area at the corresponding location in the vehicle map based on the geographical location information.

[0046] Fifthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0047] When the image of the area captured by the image acquisition device is displayed on the in-vehicle map of the target vehicle, in response to the switching operation of switching the acquisition area to the target area in the in-vehicle map, the geographical location information of the target area sent by the target vehicle is received.

[0048] Based on the geographic location information and the current pose data of the image acquisition device, determine the pose adjustment data;

[0049] Based on the pose adjustment data, the pose of the image acquisition device is adjusted, and the regional image of the target area is acquired after the pose adjustment is completed.

[0050] The target area's regional image is sent to the target vehicle, enabling the target vehicle to control the display of the regional image of the target area at the corresponding location in the vehicle's map, based on the geographic location information.

[0051] Sixthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0052] In response to the switching operation between the data collection area and the target area in the vehicle map, the geographical location information corresponding to the target area is obtained;

[0053] The geographic location information is sent to the mobile image acquisition device, so that the image acquisition device can determine the pose adjustment data based on the geographic location information and the current pose data of the image acquisition device, adjust the pose of the image acquisition device according to the pose adjustment data, and acquire the regional image of the target area after the pose adjustment is completed.

[0054] Receives a region image of the target area acquired by an image acquisition device;

[0055] Based on geographic location information, the area image of the target area is displayed at the corresponding location of the target area on the vehicle map.

[0056] In a seventh aspect, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0057] When the image of the area captured by the image acquisition device is displayed on the in-vehicle map of the target vehicle, in response to the switching operation of switching the acquisition area to the target area in the in-vehicle map, the geographical location information of the target area sent by the target vehicle is received.

[0058] Based on the geographic location information and the current pose data of the image acquisition device, determine the pose adjustment data;

[0059] Based on the pose adjustment data, the pose of the image acquisition device is adjusted, and the regional image of the target area is acquired after the pose adjustment is completed.

[0060] The target area's regional image is sent to the target vehicle, enabling the target vehicle to control the display of the regional image of the target area at the corresponding location in the vehicle's map, based on the geographic location information.

[0061] Eighthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0062] In response to the switching operation between the data collection area and the target area in the vehicle map, the geographical location information corresponding to the target area is obtained;

[0063] The geographic location information is sent to the mobile image acquisition device, so that the image acquisition device can determine the pose adjustment data based on the geographic location information and the current pose data of the image acquisition device, adjust the pose of the image acquisition device according to the pose adjustment data, and acquire the regional image of the target area after the pose adjustment is completed.

[0064] Receives a region image of the target area acquired by an image acquisition device;

[0065] Based on geographic location information, the area image of the target area is displayed at the corresponding location of the target area on the vehicle map.

[0066] Ninthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0067] When the image of the area captured by the image acquisition device is displayed on the in-vehicle map of the target vehicle, in response to the switching operation of switching the acquisition area to the target area in the in-vehicle map, the geographical location information of the target area sent by the target vehicle is received.

[0068] Based on the geographic location information and the current pose data of the image acquisition device, determine the pose adjustment data;

[0069] Based on the pose adjustment data, the pose of the image acquisition device is adjusted, and the regional image of the target area is acquired after the pose adjustment is completed.

[0070] The target area's regional image is sent to the target vehicle, enabling the target vehicle to control the display of the regional image of the target area at the corresponding location in the vehicle's map, based on the geographic location information.

[0071] In a tenth aspect, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0072] In response to the switching operation between the data collection area and the target area in the vehicle map, the geographical location information corresponding to the target area is obtained;

[0073] The geographic location information is sent to the mobile image acquisition device, so that the image acquisition device can determine the pose adjustment data based on the geographic location information and the current pose data of the image acquisition device, adjust the pose of the image acquisition device according to the pose adjustment data, and acquire the regional image of the target area after the pose adjustment is completed.

[0074] Receives a region image of the target area acquired by an image acquisition device;

[0075] Based on geographic location information, the area image of the target area is displayed at the corresponding location of the target area on the vehicle map.

[0076] Regarding the beneficial effects of any of the technical solutions in the second to tenth aspects mentioned above, refer to the beneficial effects of the corresponding technical solutions in the first aspect; repeated examples will not be listed here. Attached Figure Description

[0077] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0078] Figure 1 This is a schematic diagram of an optional structure for the modules deployed in an aircraft in one embodiment;

[0079] Figure 2 This is a schematic diagram of an optional structure for the modules deployed on the target vehicle in one embodiment;

[0080] Figure 3 This is a schematic diagram of an optional process for an image display method in one embodiment;

[0081] Figure 4 This is a schematic diagram illustrating one possible effect of the current area in one embodiment;

[0082] Figure 5 This is an optional display diagram of a region image in one embodiment;

[0083] Figure 6 This is a schematic diagram of an optional step in determining pose adjustment data in one embodiment;

[0084] Figure 7 This is a schematic diagram of an optional step in determining pose adjustment data in one embodiment;

[0085] Figure 8 This is a schematic diagram of an optional process for determining attitude adjustment data in one embodiment;

[0086] Figure 9 This is a schematic diagram of an optional step in determining pose adjustment data in one embodiment;

[0087] Figure 10 This is a schematic diagram of an optional pose adjustment step in one embodiment;

[0088] Figure 11 This is a schematic diagram of an optional process for an image display method in one embodiment;

[0089] Figure 12 This is a schematic diagram of an optional process for an image display method in one embodiment;

[0090] Figure 13 This is a schematic diagram of an optional process for obtaining geographic location information in one embodiment;

[0091] Figure 14 This is a schematic diagram of an optional process for an image display method in one embodiment;

[0092] Figure 15 This is a schematic diagram of an optional process for an image display method in one embodiment;

[0093] Figure 16 This is a schematic diagram of an optional structure of an image display device in one embodiment;

[0094] Figure 17 This is a schematic diagram of an optional structure of an image display device in one embodiment;

[0095] Figure 18 This is a schematic diagram of an optional internal structure of a computer device in one embodiment. Detailed Implementation

[0096] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0097] The terms "first," "second," etc., used in this application may be used to describe various elements, but these elements are not limited by these terms. These terms are used only to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0098] The image display method provided in this application can be applied to mobile image acquisition devices or target vehicles. The image acquisition device includes an aircraft and a camera deployed on the aircraft. The aircraft also deploys a gyroscope module, a positioning module, a processor module, and a communication module, such as... Figure 1 As shown. The aircraft can communicate with the target vehicle, for example, through cellular networks or other networks. Figure 2 As shown, the target vehicle is equipped with a communication module and a multimedia display module. After the aircraft takes off, the camera can capture video streams of the current area. The aircraft can transmit video streams with the target vehicle, whether stationary or moving, and the video streams can be displayed on the vehicle-mounted map shown by the multimedia display module.

[0099] In one exemplary embodiment, such as Figure 3 As shown, an image display method is provided, which is described in detail using a portable image acquisition device as an example. The method includes the following steps:

[0100] S310, when the image of the area acquired by the image acquisition device is displayed on the vehicle-mounted map of the target vehicle, in response to the switching operation of switching the acquisition area to the target area in the vehicle-mounted map, receives the geographical location information of the target area sent by the target vehicle.

[0101] The area image displayed on the vehicle-mounted map can be understood as an image of the current region captured by the image acquisition device at its current location. The geographic spatial extent of the current region can be the geographic spatial extent corresponding to the current field of view of the image acquisition device. For example... Figure 4As shown, the current area can be the area projected onto the ground from the current field of view, i.e., the ground projection area. The area image displayed in the vehicle map can include the area image at at least one moment corresponding to the current area. For example, the area image displayed in the vehicle map can include area images at multiple consecutive moments. In some embodiments, the area image displayed in the vehicle map can be acquired in real time by an image acquisition device.

[0102] The region image can be displayed at the corresponding location of the current region in the vehicle map. In some embodiments, the region image can be displayed at the location indicated by the coordinate information of the current region in the vehicle map. In some embodiments, the region image can also be displayed at other locations in the vehicle map besides the location indicated by the coordinate information of the current region, and the location indicated by the coordinate information of the current region is indicated by an indicator. The region image display method described above allows the region image to be displayed corresponding to the current region, which reduces the difficulty of identifying the specific location of the region image on the vehicle map to a certain extent. In some embodiments, such as Figure 5 As shown, the area image can be displayed in the vehicle map according to a preset display size. The preset display size can be set according to the actual situation. For example, it is necessary to avoid the display size being too large, which would affect the display of other area information in the vehicle map, and to avoid the display size being too small, which would cause the area image to be unable to be displayed clearly.

[0103] The switching operation can include area switching operations performed on the vehicle map, such as dragging the area image display box in the vehicle map, clicking on the target area in the vehicle map, or entering the target area identifier in the vehicle map.

[0104] The target area can be a region whose geographic spatial range differs from that of the current area. The geographic location information corresponding to the target area can include at least one of the following: the latitude and longitude of the target area's center point, the size information of the target area, and the tilt angle information between the target area and a preset direction (such as true north). The latitude and longitude information of the target area's center point includes both longitude and latitude. The size information of the target area can include its length, width, and radius.

[0105] In some embodiments, the image acquisition device can receive the geographic location information of the target area sent by the target vehicle through a communication connection established with the target vehicle.

[0106] S320 determines pose adjustment data based on geographical location information and the current pose data of the image acquisition device.

[0107] The pose adjustment data can include position adjustment data and attitude adjustment data.

[0108] Position adjustment data can be understood as data used to adjust the position of the image acquisition device. Attitude adjustment data can be understood as data used to adjust the attitude of the image acquisition device.

[0109] S330 adjusts the pose of the image acquisition device based on the pose adjustment data, and acquires a regional image of the target area after the pose adjustment is completed.

[0110] In some embodiments, the position of the image acquisition device can be adjusted based on position adjustment data, and the posture of the image acquisition device can be adjusted based on posture adjustment data. By adjusting the posture of the image acquisition device, the field of view of the image acquisition device can be aligned with the target area, thereby enabling more accurate acquisition of regional images of the target area.

[0111] S340 sends the area image of the target area to the target vehicle, so that the target vehicle controls the display of the area image of the target area at the corresponding location of the target area on the vehicle map according to the geographical location information.

[0112] In some embodiments, the image acquisition device can send the acquired area image of the target area to the target vehicle through a communication connection established with the target vehicle.

[0113] In some embodiments, the area image of the target area may be displayed at the location indicated by the coordinate information of the target area in the vehicle map. In some embodiments, the area image of the target area may also be displayed at a location other than the location indicated by the coordinate information of the target area in the vehicle map, and the location indicated by the coordinate information of the target area may be indicated by an indicator.

[0114] In some embodiments, the area image of the target area can be displayed on the vehicle map at a preset display size, wherein the preset display size can be set according to the actual situation.

[0115] In the above image display method, after the acquisition area is switched to the target area, the image acquisition device can determine the pose adjustment data based on the geographical location information of the target area sent by the target vehicle and its own current pose data. This allows the pose of the image acquisition device to be adjusted to match the geographical location information of the target area, and the area image of the target area can be accurately acquired. In this way, after receiving the area image of the target area, the target vehicle can synchronously display the area image at the corresponding location of the target area on the vehicle map. This allows the user to not only see the area image of the target area on the vehicle map, but also intuitively see the geographical location corresponding to the area image (i.e., the corresponding location of the target area), thereby enhancing the perception of the geographical location corresponding to the area image to a certain extent.

[0116] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment in which the determination step of pose adjustment data in S320 is refined.

[0117] See Figure 6 The pose adjustment data determination steps shown include:

[0118] S610 determines the area coverage between the allowed acquisition range and the target area based on the geographical location information and the allowed acquisition range of the image acquisition device.

[0119] The allowed acquisition range can be understood as the maximum geographic space that the image acquisition device can acquire at its current location. In some embodiments, the allowed acquisition range and its geographic location information can be determined based on the allowed rotation angles of the image acquisition device in each direction and the current pose data of the image acquisition device.

[0120] In some embodiments, the regional coverage between the allowed collection range and the target area can be determined based on the geographic location information of the allowed collection range and the geographic location information of the target area.

[0121] In some embodiments, the area coverage between the permitted data collection range and the target area may include the following scenarios:

[0122] Scenario 1: The allowed collection range does not completely cover the target area. Scenario 1 can be understood as the allowed collection range not covering the target area or the allowed collection range partially covering the target area.

[0123] Scenario 2: The collection range is allowed to completely cover the target area.

[0124] In the above situation, the pose of the image acquisition device can be adjusted to allow the acquisition range to cover the target area, so that the image acquisition device can acquire regional images of the target area after the pose is adjusted.

[0125] S620 determines pose adjustment data based on area coverage and the current pose data of the image acquisition device.

[0126] The pose adjustment data differs depending on the situation.

[0127] In some embodiments, when the area coverage is such that the acquisition range does not completely cover the target area, the position and orientation of the image acquisition device can be adjusted, i.e., the pose adjustment data can include position adjustment data and orientation adjustment data.

[0128] In some embodiments, when the area coverage allows the acquisition range to completely cover the target area and the current area of ​​the image acquisition device does not completely cover the target area, the posture of the image acquisition device can be adjusted, that is, the posture adjustment data may include posture adjustment data.

[0129] In some embodiments, when the area coverage allows the acquisition range to completely cover the target area and the current area of ​​the image acquisition device completely covers the target area, the pose of the image acquisition device may not need to be adjusted.

[0130] In the above embodiments, based on the regional coverage between the allowed acquisition range and the target area and the current pose data of the image acquisition device, the pose adjustment data can be accurately determined, thereby enabling more accurate pose adjustment of the image acquisition device. This allows the acquisition field of view of the image acquisition device to correspond to the target area, thus enabling more precise acquisition of the regional image of the target area.

[0131] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the pose adjustment data includes position adjustment data and attitude adjustment data, and the current pose data includes the current position information of the image acquisition device. Accordingly, the steps for determining the pose adjustment data in S620 are refined.

[0132] See Figure 7 The pose adjustment data determination steps shown include:

[0133] S710 determines location adjustment data based on geographic location information and current location information when the allowed collection range does not fully cover the target area.

[0134] In some embodiments, the center point of the target area can be used as the projection point on the ground of the target acquisition location for the image acquisition device to acquire the regional image of the target area. Accordingly, the latitude and longitude information of the center point of the target area can be used as the latitude and longitude information of the target acquisition location. Then, based on the latitude and longitude information of the center point of the target area and the latitude and longitude information of the image acquisition device at its current location, the horizontal distance information between the image acquisition device and the center point of the target area can be determined. Finally, position adjustment data can be determined based on the horizontal distance information.

[0135] The S720 determines attitude adjustment data based on geographic location information, current location information, and the current acquisition angle of the image acquisition device.

[0136] The geographic location information may include the latitude and longitude of the center point of the target area.

[0137] The current location information may include the latitude, longitude, and altitude of the image acquisition device at its current location.

[0138] The current acquisition angle can include the current tilt angle and the current azimuth angle. The current tilt angle can be understood as the offset angle of the image acquisition device relative to the vertical direction. The current azimuth angle can be understood as the offset angle of the image acquisition device relative to the horizontal direction.

[0139] The posture adjustment data may include a first adjustment angle of the image acquisition device in the vertical direction and / or a second adjustment angle of the image acquisition device in the horizontal direction.

[0140] In some embodiments, the first adjustment angle of the image acquisition device in the vertical direction can be determined based on geographic location information, current location information, and current tilt angle.

[0141] In some embodiments, a second adjustment angle in the horizontal direction of the image acquisition device can be determined based on geographic location information, current location information, and current azimuth angle.

[0142] In the above embodiments, when the allowed acquisition range does not completely cover the target area, the position adjustment data can be determined relatively accurately based on the geographical location information and the current position information. Similarly, the posture adjustment data can be determined relatively accurately based on the geographical location information, the current position information, and the current acquisition angle of the image acquisition device. Thus, after adjusting the pose of the image acquisition device using the position adjustment data and the posture adjustment data, the acquisition field of view of the image acquisition device corresponds to the target area, thereby enabling the acquisition of regional images of the target area with relatively high accuracy.

[0143] Considering that some image acquisition devices, such as cameras with high magnification, often have optical axis deviation when zooming, and that the optical axis deviation has a significant impact on the acquisition angle of the image acquisition device when the camera is at a high distance from the ground, in some embodiments, the current acquisition angle of the image acquisition device can be corrected, and then the attitude adjustment data can be determined based on the corrected current acquisition angle.

[0144] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment in which the determination step of attitude adjustment data in S720 is refined.

[0145] See Figure 8 The steps for determining attitude adjustment data shown may include:

[0146] S810: Obtain the current acquisition offset of the image acquisition device.

[0147] The current acquisition offset can be understood as the offset used to correct the current acquisition angle of the image acquisition device. The current acquisition offset can include at least one of a horizontal acquisition offset and a vertical acquisition offset.

[0148] In some embodiments, the optical axis offset of the image acquisition device can be obtained based on the intrinsic parameter data of the image acquisition device. The optical axis offset may include horizontal optical axis offset and / or vertical optical axis offset. The optical axis offset can be understood as the deviation angle between the actual optical axis and the ideal optical axis in the corresponding direction. The horizontal optical axis offset can be understood as the optical axis offset in the horizontal direction. The vertical optical axis offset can be understood as the optical axis offset in the vertical direction. Then, based on the transformation relationship between the ground coordinate system and the image acquisition device coordinate system, the optical axis offset can be mapped to the corresponding direction to obtain the current acquisition offset in the corresponding direction.

[0149] For example, when the current acquisition offset includes the acquisition offset in the vertical direction, the vertical optical axis offset can be obtained based on the intrinsic parameter data of the image acquisition device. And based on the ground coordinate system and the image acquisition device coordinate system, the vertical optical axis offset is... Mapping to the vertical direction yields the acquisition offset in the vertical direction. .

[0150] For example, when the current acquisition offset includes the acquisition offset in the horizontal direction, the horizontal optical axis offset can be obtained based on the intrinsic parameter data of the image acquisition device. And based on the ground coordinate system and the image acquisition equipment coordinate system, the horizontal optical axis offset is... Mapping to the horizontal direction yields the acquisition offset in the horizontal direction. .

[0151] S820 corrects the current acquisition angle based on the current acquisition offset.

[0152] In some embodiments, based on the acquisition offset in the vertical direction By correcting the current tilt angle in the vertical direction, we can obtain the corrected current tilt angle in the vertical direction, which can be obtained using the following formula:

[0153]

[0154] in, This indicates the corrected current tilt angle in the vertical direction; This indicates the current tilt angle of the image acquisition device in the vertical direction.

[0155] In some embodiments, based on the acquisition offset in the horizontal direction By correcting the current azimuth angle in the horizontal direction, we can obtain the corrected current azimuth angle in the horizontal direction, which can be obtained using the following formula:

[0156]

[0157] in, This indicates the corrected current azimuth angle in the horizontal direction; Indicates the current azimuth angle in the horizontal direction; This indicates the current tilt angle of the image acquisition device in the vertical direction.

[0158] The S830 determines attitude adjustment data based on geographic location information, current location information, and the corrected current acquisition angle.

[0159] In some embodiments, the first adjustment angle of the image acquisition device in the vertical direction can be determined based on geographic location information, current location information, and the corrected current tilt angle.

[0160] In some embodiments, the first adjustment angle can be obtained according to the following formula:

[0161]

[0162] in, Indicates the first adjustment angle; Indicates the height of the image acquisition device; Indicates the Earth's radius; Indicates the latitude of the center point of the target area; The latitude represents the target acquisition location (i.e., the location where the image acquisition device acquires the regional image of the target area).

[0163] In some embodiments, a second adjustment angle in the horizontal direction of the image acquisition device can be determined based on geographic location information, current location information, and the corrected current azimuth angle.

[0164] In some embodiments, the second adjustment angle can be obtained according to the following formula:

[0165]

[0166] in, Indicates the second adjustment angle; Indicates the longitude of the center point of the target area; Indicates the longitude of the target acquisition location; Indicates the latitude of the center point of the target area; Indicates the latitude of the target acquisition location; Indicates the longitude of the center point of the current region; This indicates the longitude of the image acquisition device at its current location.

[0167] In the above embodiments, by correcting the current acquisition angle based on the current acquisition offset, the influence of optical axis deviation on the acquisition angle of the image acquisition device can be reduced to a certain extent. Thus, based on the corrected current acquisition angle, the attitude adjustment data can be determined more accurately.

[0168] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the pose adjustment data includes posture adjustment data, and the current pose data includes the current position information of the image acquisition device. Accordingly, the steps for determining the pose adjustment data in S620 are refined.

[0169] See Figure 9 The pose adjustment data determination steps shown include:

[0170] S910, when the allowed acquisition range completely covers the target area and the current area of ​​the image acquisition device does not completely cover the target area, determines the attitude adjustment data based on the geographical location information, the current location information and the current acquisition angle of the image acquisition device.

[0171] In some embodiments, the current area of ​​the image acquisition device not completely covering the target area can be understood as the current area not covering the target area or the current area partially covering the target area.

[0172] When the acquisition range is allowed to completely cover the target area, and the current area of ​​the image acquisition device does not completely cover the target area, the posture of the image acquisition device can be adjusted to allow the acquisition range to cover the target area, so that the image acquisition device can acquire regional images of the target area after the posture is adjusted.

[0173] In some embodiments, the steps for determining attitude adjustment data can be similar to those in the aforementioned S720, and will not be repeated here.

[0174] In the above embodiments, when the allowed acquisition range completely covers the target area and the current area of ​​the image acquisition device does not completely cover the target area, by determining the posture adjustment data, it is possible to adjust the posture of the image acquisition device so that the allowed acquisition range covers the target area, thereby acquiring a regional image of the target area after the posture of the image acquisition device is adjusted.

[0175] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment in which the pose adjustment steps of S330 are refined.

[0176] See Figure 10 The pose adjustment steps shown include:

[0177] S1010, Obtain the adjustment rate for adjusting the pose of the image acquisition device.

[0178] The adjustment rate can be understood as the speed at which the pose of the image acquisition device is adjusted.

[0179] In some embodiments, the adjustment rate sent by the target vehicle may be received.

[0180] In some embodiments, the switching rate of the switching operation can also be obtained, and the adjustment rate can be determined based on the switching rate. The switching rate can be understood as the speed of the switching operation. In some embodiments, the image acquisition device can receive the switching rate sent by the target vehicle, and then determine the adjustment rate based on the mapping relationship between the adjustment rate and the switching rate. In some embodiments, the adjustment rate and the switching rate can be positively correlated, that is, the larger the switching rate, the larger the adjustment rate.

[0181] S1020 adjusts the pose of the image acquisition device based on the adjustment rate and pose adjustment data.

[0182] In the above embodiments, the pose adjustment of the image acquisition device can be completed in a timely manner based on the adjustment rate and pose adjustment data, which to a certain extent meets the need for rapid image switching.

[0183] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment in which the image display method is described in detail.

[0184] See Figure 11 The image display method shown includes:

[0185] S1101, when the image of the area acquired by the image acquisition device is displayed on the vehicle-mounted map of the target vehicle, in response to the switching operation of switching the acquisition area to the target area in the vehicle-mounted map, the geographical location information corresponding to the target area sent by the target vehicle is received.

[0186] S1102, Based on the geographic location information and the allowable acquisition range of the image acquisition device, determine the area coverage between the allowable acquisition range and the target area.

[0187] S1103, when the allowed collection range does not completely cover the target area, determine the location adjustment data based on the geographical location information and the current location information.

[0188] S1104, obtain the current acquisition offset of the image acquisition device.

[0189] S1105, Based on the current acquisition offset, correct the current tilt angle and current azimuth angle of the image acquisition device.

[0190] S1106, Based on the geographical location information, the current location information, and the corrected current tilt angle, determine the first adjustment angle of the image acquisition device in the vertical direction.

[0191] S1107, Based on the geographical location information, the current location information, and the corrected current azimuth angle, determine the second adjustment angle of the image acquisition device in the horizontal direction.

[0192] S1108, when the allowed acquisition range completely covers the target area and the current area of ​​the image acquisition device does not completely cover the target area, determine the attitude adjustment data based on the geographical location information, the current location information and the current acquisition angle of the image acquisition device.

[0193] S1109, based on the adjustment rate and pose adjustment data, adjusts the pose of the image acquisition device, and acquires a regional image of the target area after the pose adjustment is completed.

[0194] Where the allowed acquisition range completely covers the target area, and the current area of ​​the image acquisition device does not completely cover the target area, the pose adjustment data may include posture adjustment data, a first adjustment angle, and a second adjustment angle. Where the allowed acquisition range does not completely cover the target area, the pose adjustment data may include a first adjustment angle, a second adjustment angle, and position adjustment data.

[0195] S1110, the area image of the target area is sent to the target vehicle, so that the target vehicle controls the display of the area image of the target area at the corresponding location of the target area on the vehicle map according to the geographical location information.

[0196] In one exemplary embodiment, such as Figure 12 As shown, an image display method is provided, which is described in detail using a target vehicle as an example. The method includes the following steps:

[0197] S1210, in response to the switching operation of switching the collection area to the target area in the vehicle map, obtains the geographical location information corresponding to the target area.

[0198] The geographic location information corresponding to the target area may include at least one of the following: the latitude and longitude information of the center point of the target area, the size information of the target area, and the tilt angle information between the target area and a preset direction (such as due north).

[0199] S1220, the geographic location information is sent to the mobile image acquisition device so that the image acquisition device determines the pose adjustment data based on the geographic location information and the current pose data of the image acquisition device, adjusts the pose of the image acquisition device according to the pose adjustment data, and acquires the regional image of the target area after the pose adjustment is completed.

[0200] In some embodiments, the target vehicle can send its geographic location information to the mobile image acquisition device via a communication connection established with the mobile image acquisition device.

[0201] The process of determining pose adjustment data, adjusting the pose of the image acquisition device, and acquiring regional images of the target area can be referred to in the previous text and will not be repeated here.

[0202] S1230 receives the area image of the target area acquired by the image acquisition device.

[0203] In some embodiments, the target vehicle can receive regional images of the target area acquired by the image acquisition device through a communication connection established with the mobile image acquisition device.

[0204] S1240, based on the geographic location information, controls the display of the area image of the target area at the corresponding location of the target area in the vehicle map.

[0205] In some embodiments, the area image of the target area may be displayed at the location indicated by the coordinate information of the target area in the vehicle map. In some embodiments, the area image of the target area may also be displayed at a location other than the location indicated by the coordinate information of the target area in the vehicle map, and the location indicated by the coordinate information of the target area may be indicated by an indicator.

[0206] In some embodiments, the area image of the target area can be displayed on the vehicle map at a preset display size, wherein the preset display size can be set according to the actual situation.

[0207] In the aforementioned image display method, after the acquisition area is switched to the target area, the target vehicle sends the geographical location information corresponding to the target area to the image acquisition device. This allows the image acquisition device to determine pose adjustment data based on the geographical location information of the target area sent by the target vehicle and its own current pose data. As a result, the pose of the image acquisition device can be adjusted to match the geographical location information of the target area, and the regional image of the target area can be accurately acquired. Thus, after receiving the regional image of the target area, the target vehicle can synchronously display the regional image at the corresponding location of the target area on the vehicle map. This allows users to not only see the regional image of the target area on the vehicle map, but also intuitively see the geographical location corresponding to the regional image (i.e., the corresponding location of the target area), thereby enhancing the perception of the geographical location corresponding to the regional image to a certain extent.

[0208] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment in which the step of obtaining the geographic location information in S1210 is refined.

[0209] See Figure 13 The steps for obtaining geographic location information shown include:

[0210] S1310, Determine the coordinates of the target area in the vehicle map.

[0211] In some embodiments, coordinate information can be understood as the coordinate information of the center point of the target area.

[0212] In some embodiments, in response to a switching operation, the coordinates of the target area in the vehicle map can be determined based on the operation attribute information of the switching operation.

[0213] In practice, when the operation is changed to dragging the image display box in the vehicle map, the ending position of the dragging operation can be determined based on the dragging distance and direction; based on the coordinate information corresponding to the ending position, the coordinate information of the center point of the target area in the vehicle map can be determined.

[0214] When the operation is switched to clicking on a target area in the vehicle map, the coordinates of the center point of the target area in the vehicle map can be determined based on the coordinates of the click location.

[0215] S1320: Based on the correspondence between the coordinate information and geographical location information of each area in the vehicle map, and the coordinate information of the target area in the vehicle map, determine the geographical location information corresponding to the target area.

[0216] In some embodiments, the geographic location information of each area may be sent to the target vehicle by the image acquisition device.

[0217] In some embodiments, for each region, the tilt angle information between the region and a preset direction can be obtained in the following way: by obtaining the azimuth angle of the current position of the image acquisition device through the gyroscope corresponding to the image acquisition device. This refers to the tilt angle information between the area and a preset direction (such as due north).

[0218] In some embodiments, for each region, the geographical extent information of the region can be obtained in the following ways: the tilt angle of the image acquisition device relative to the vertical direction, the field of view data of the image acquisition device, and the height of the image acquisition device at the current position are obtained; the length information and width information of the region are determined based on the tilt angle, the field of view data, and the height.

[0219] For example, when image acquisition equipment is deployed on an aircraft, the tilt angle of the aircraft relative to the vertical direction can be obtained using the gyroscope in the aircraft. Based on the tilt angle of the image acquisition equipment relative to the aircraft. and the tilt angle of the aircraft relative to the vertical direction This allows us to obtain the tilt angle of the image acquisition device relative to the vertical direction. In some embodiments, It can be obtained using the following formula: .

[0220] The field of view data of the image acquisition device may include the field of view in the horizontal direction. and the field of view in the vertical direction .

[0221] The longitude of the aircraft at its current location can be obtained using the positioning device in the aircraft. ,latitude and altitude Among them, the longitude of the spacecraft at its current location. The longitude of the image acquisition device at its current location. The latitude of the aircraft at its current location. The latitude at the current location can be used as an image acquisition device. This is based on the altitude of the aircraft at the current location. and the altitude of the current location This allows us to determine the altitude of the aircraft at its current location. In some embodiments, It can be obtained using the following formula: The altitude of the aircraft at its current location. It can be used as the height of the image acquisition device at the current location.

[0222] Based on the tilt angle of the image acquisition device relative to the vertical direction The field of view of the image acquisition device in the horizontal direction The field of view of the image acquisition device in the vertical direction Longitude of the image acquisition device at its current location Latitude of the image acquisition device at its current location and the height of the image acquisition device at its current location The length of the current region can be obtained using the following formula: The width information of the current region can be obtained using the following formula: .

[0223] In some embodiments, for each region, the latitude and longitude information of the center point of the region can be obtained in the following way: the latitude and longitude of the center point of the region can be determined based on the longitude, latitude, and altitude of the image acquisition device at the current location, the azimuth angle of the image acquisition device, the tilt angle of the image acquisition device relative to the vertical direction, and the altitude at the current location.

[0224] In some embodiments, the longitude information of the center point of the region can be obtained according to the following formula:

[0225]

[0226] In some embodiments, the latitude information of the center point of the current region can be obtained according to the following formula:

[0227]

[0228] in, Indicates the longitude of the center point of the region. Indicates the latitude of the center point of the region; This indicates the longitude of the image acquisition device at its current location; This indicates the height of the image acquisition device at its current location; Represents the optical axis offset based on the vertical direction. Current tilt angle of the image acquisition device The corrected tilt angle, obtained after correction, can be calculated using the following formula: ; Indicates the optical axis offset based on the horizontal direction. Current azimuth angle of the image acquisition device The corrected azimuth angle, obtained after correction, can be calculated using the following formula: ,in The tilt angle of the aircraft corresponding to the image acquisition device relative to the vertical direction; Indicates the Earth's radius; This indicates the latitude of the aircraft at its current location.

[0229] In the above embodiments, based on the correspondence between the coordinate information and geographical location information of each area in the vehicle map, and the coordinate information of the target area in the vehicle map, the geographical location information corresponding to the target area can be determined more accurately. This allows the image acquisition device to determine the pose adjustment data more accurately based on the geographical location information of the target area sent by the target vehicle and its own current pose data.

[0230] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment in which the image display method is refined.

[0231] See Figure 14 The image display method shown includes:

[0232] S1410, Obtain the switching rate of the switching operation.

[0233] The switching rate can be used to characterize how fast or slow the switching operation is.

[0234] In some embodiments, when the switching operation is a drag operation on an image display box in the vehicle map, the switching rate of the switching operation is determined based on the drag speed of the drag operation.

[0235] In some embodiments, the target vehicle can obtain the pixel distance moved by an object (such as a finger) performing a drag operation on the in-vehicle map per unit time. Based on the pixel distance moved per unit time, the drag speed can be determined. In some embodiments, the switching rate and the drag speed can be positively correlated; that is, the faster the drag speed, the greater the switching rate. In some embodiments, the switching rate of the area switching operation can be determined based on the mapping relationship between the switching rate and the drag speed.

[0236] In some embodiments, when the switching operation is a click operation on a target area in the vehicle map, the switching rate of the switching operation is determined based on the number of clicks in the first time period.

[0237] The number of clicks in the first time period can be understood as the cumulative number of clicks in the first time period, such as the cumulative number of clicks within 5 seconds.

[0238] In some embodiments, the switching rate can be positively correlated with the number of consecutive clicks, meaning the more consecutive clicks, the higher the switching rate. In some embodiments, the switching rate of a region switching operation can be determined based on the mapping relationship between the switching rate and the number of consecutive clicks.

[0239] In the above embodiments, the switching rate is determined in different ways for different switching operations, so that the switching rate can be determined in a timely manner when each switching operation is triggered, thereby meeting the need for fast image switching to a certain extent.

[0240] S1420, determine the adjustment rate based on the switching rate.

[0241] In some embodiments, the adjustment rate can be determined based on a preset adjustment rate corresponding to each switching rate.

[0242] S1430, the adjustment rate is sent to the image acquisition device so that the image acquisition device can adjust its pose according to the adjustment rate and pose adjustment data.

[0243] In some embodiments, the target vehicle can send the adjustment rate to the image acquisition device through a communication connection established with the image acquisition device.

[0244] In some embodiments, the process of adjusting the pose of the image acquisition device based on the adjustment rate and pose adjustment data can be referred to the preceding text and will not be repeated here.

[0245] In the above embodiments, the adjustment rate matching the user's image switching needs can be determined based on the switching rate. This allows the image acquisition device to adjust its pose in a timely manner based on the adjustment rate and pose adjustment data, thereby meeting the need for rapid image switching to a certain extent.

[0246] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment in which the image display method is described in detail.

[0247] See Figure 15 The image display method shown includes:

[0248] S1510, in response to the switching operation of switching the collection area to the target area in the vehicle map, determines the coordinate information of the target area in the vehicle map.

[0249] S1520: Based on the correspondence between the coordinate information and geographical location information of each area in the vehicle map, and the coordinate information of the target area in the vehicle map, determine the geographical location information corresponding to the target area.

[0250] S1530, the geographic location information is sent to the mobile image acquisition device so that the image acquisition device can determine the pose adjustment data based on the geographic location information and the current pose data of the image acquisition device, adjust the pose of the image acquisition device according to the pose adjustment data, and acquire the regional image of the target area after the pose adjustment is completed.

[0251] In some embodiments, when the switching operation is a dragging operation of an image display frame in the vehicle map, the switching rate of the switching operation is determined based on the dragging speed; when the switching operation is a clicking operation of a target area in the vehicle map, the switching rate of the switching operation is determined based on the number of clicks in the first time period. Based on the switching rate, an adjustment rate is determined; the adjustment rate is sent to the image acquisition device so that the image acquisition device can adjust its pose according to the adjustment rate and pose adjustment data.

[0252] S1540 receives area images of the target area acquired by the image acquisition device.

[0253] S1550 controls the display of a region image of the target area at the corresponding location in the vehicle map, based on the geographic location information.

[0254] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0255] Based on the same inventive concept, this application also provides an image display apparatus for implementing the image display method described above. The solution provided by this apparatus is similar to the implementation described in the above method; therefore, the specific limitations in one or more image display apparatus embodiments provided below can be found in the limitations of the image display method described above, and will not be repeated here.

[0256] In one exemplary embodiment, such as Figure 16 As shown, an image display device is provided, configured in a movable image acquisition device; the image display device includes: a receiving module 1610, a determining module 1620, an adjusting module 1630, and a transmitting module 1640, wherein:

[0257] The receiving module 1610 is used to receive the geographic location information of the target area sent by the target vehicle in response to a switching operation of switching the acquisition area to the target area in the vehicle map when the area image acquired by the image acquisition device is displayed in the vehicle map of the target vehicle.

[0258] The determination module 1620 is used to determine pose adjustment data based on geographical location information and the current pose data of the image acquisition device;

[0259] The adjustment module 1630 is used to adjust the pose of the image acquisition device according to the pose adjustment data, and to acquire a regional image of the target area after the pose adjustment is completed.

[0260] The sending module 1640 is used to send the area image of the target area to the target vehicle, so that the target vehicle can control the area image of the target area to be displayed at the corresponding location of the target area on the vehicle map according to the geographical location information.

[0261] In one embodiment, the determining module 1620 includes: a first determining unit, configured to determine the area coverage between the allowed acquisition range and the target area based on geographical location information and the allowed acquisition range of the image acquisition device; and a second determining unit, configured to determine pose adjustment data based on the area coverage and the current pose data of the image acquisition device.

[0262] In one embodiment, the pose adjustment data includes position adjustment data and attitude adjustment data, and the current pose data includes the current position information of the image acquisition device; the second determining unit is specifically used to: determine the position adjustment data based on the geographical location information and the current position information when the allowed acquisition range does not completely cover the target area; and determine the attitude adjustment data based on the geographical location information, the current position information and the current acquisition angle of the image acquisition device.

[0263] In one embodiment, the current acquisition angle includes the current tilt angle and the current azimuth angle; the second determining unit is specifically used to: determine a first adjustment angle of the image acquisition device in the vertical direction based on the geographical location information, the current position information and the current tilt angle; and determine a second adjustment angle of the image acquisition device in the horizontal direction based on the geographical location information, the current position information and the current azimuth angle; wherein the attitude adjustment data includes the first adjustment angle and / or the second adjustment angle.

[0264] In one embodiment, the second determining unit is specifically used for: obtaining the current acquisition offset of the image acquisition device; correcting the current acquisition angle based on the current acquisition offset; and determining attitude adjustment data based on the geographical location information, the current position information, and the corrected current acquisition angle.

[0265] In one embodiment, the pose adjustment data includes posture adjustment data, and the current pose data includes the current position information of the image acquisition device; the second determining unit is specifically used to: determine the posture adjustment data based on the geographical location information, the current position information and the current acquisition angle of the image acquisition device when the allowed acquisition range completely covers the target area and the current area of ​​the image acquisition device does not completely cover the target area.

[0266] In one embodiment, the adjustment module 1630 includes: an acquisition unit for acquiring an adjustment rate for adjusting the pose of the image acquisition device; and an adjustment unit for adjusting the pose of the image acquisition device based on the adjustment rate and the pose adjustment data.

[0267] In one exemplary embodiment, such as Figure 17As shown, an image display device is provided, configured on a target vehicle; the image display device includes: a first acquisition module 1710, a first transmission module 1720, a receiving module 1730, and a control module 1740, wherein:

[0268] The first acquisition module 1710 is used to acquire the geographical location information corresponding to the target area in response to the switching operation of switching the collection area to the target area in the vehicle map;

[0269] The first sending module 1720 is used to send geographic location information to a mobile image acquisition device, so that the image acquisition device can determine pose adjustment data based on the geographic location information and the current pose data of the image acquisition device, adjust the pose of the image acquisition device according to the pose adjustment data, and acquire a regional image of the target area after the pose adjustment is completed.

[0270] The receiving module 1730 is used to receive the area image of the target area acquired by the image acquisition device;

[0271] The control module 1740 is used to control the display of the area image of the target area at the corresponding location of the target area in the vehicle map based on the geographical location information.

[0272] In one embodiment, the first acquisition module 1710 includes: a first determining unit, configured to determine the coordinate information of the target area in the vehicle map; and a second determining unit, configured to determine the geographical location information corresponding to the target area based on the correspondence between the coordinate information and geographical location information of each area in the vehicle map, and the coordinate information of the target area in the vehicle map.

[0273] In one embodiment, the image display device further includes: a second acquisition module for acquiring the switching rate of the switching operation; a determination module for determining the adjustment rate based on the switching rate; and a second transmission module for transmitting the adjustment rate to the image acquisition device, so that the image acquisition device can adjust its pose based on the adjustment rate and pose adjustment data.

[0274] In one embodiment, the second acquisition module includes: a third determining unit, configured to determine the switching rate of the switching operation based on the dragging speed of the image display box in the vehicle map when the switching operation is a dragging operation of the image display box in the vehicle map; and a fourth determining unit, configured to determine the switching rate of the switching operation based on the number of clicks in the first time period when the switching operation is a click operation of the target area in the vehicle map.

[0275] Each module in the aforementioned image display device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0276] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown below. Figure 18 As shown, the computer device includes a processor, memory, input / output interfaces, and a communication interface. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements an image display method.

[0277] Those skilled in the art will understand that Figure 18 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0278] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the image display method provided in any of the above embodiments.

[0279] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the image display method provided in any of the above embodiments.

[0280] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the image display method provided in any of the above embodiments.

[0281] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0282] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0283] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An image display method, characterized in that, Applied to a portable image acquisition device, the method includes: When the image of the area captured by the image acquisition device is displayed on the in-vehicle map of the target vehicle, in response to the switching operation of switching the acquisition area to the target area in the in-vehicle map, the geographical location information of the target area sent by the target vehicle is received. Based on the geographic location information and the current pose data of the image acquisition device, pose adjustment data is determined; Based on the pose adjustment data, the pose of the image acquisition device is adjusted, and a regional image of the target area is acquired after the pose adjustment is completed. The region image of the target area is sent to the target vehicle, so that the target vehicle controls the display of the region image of the target area at the corresponding location of the target area in the vehicle map according to the geographical location information.

2. The method according to claim 1, characterized in that, The step of determining pose adjustment data based on the geographic location information and the current pose data of the image acquisition device includes: Based on the geographic location information and the allowed acquisition range of the image acquisition device, determine the area coverage between the allowed acquisition range and the target area; Based on the area coverage and the current pose data of the image acquisition device, pose adjustment data is determined.

3. The method according to claim 2, characterized in that, The pose adjustment data includes position adjustment data and posture adjustment data, and the current pose data includes the current position information of the image acquisition device. Based on the area coverage and the current pose data of the image acquisition device, pose adjustment data is determined, including: If the allowed collection range does not completely cover the target area, the location adjustment data is determined based on the geographic location information and the current location information; The attitude adjustment data is determined based on the geographic location information, the current location information, and the current acquisition angle of the image acquisition device.

4. The method according to claim 3, characterized in that, The current acquisition angle includes the current tilt angle and the current azimuth angle; The attitude adjustment data is determined based on the geographic location information, the current location information, and the current acquisition angle of the image acquisition device, including: Based on the geographic location information, the current location information, and the current tilt angle, the first adjustment angle of the image acquisition device in the vertical direction is determined; Based on the geographic location information, the current location information, and the current azimuth angle, the second adjustment angle of the image acquisition device in the horizontal direction is determined; The attitude adjustment data includes the first adjustment angle and / or the second adjustment angle.

5. The method according to claim 3, characterized in that, The attitude adjustment data is determined based on the geographic location information, the current location information, and the current acquisition angle of the image acquisition device, including: Obtain the current acquisition offset of the image acquisition device; The current acquisition angle is corrected based on the current acquisition offset. The attitude adjustment data is determined based on the geographic location information, the current location information, and the corrected current acquisition angle.

6. The method according to claim 2, characterized in that, The pose adjustment data includes posture adjustment data, and the current pose data includes the current position information of the image acquisition device. Based on the area coverage and the current pose data of the image acquisition device, pose adjustment data is determined, including: When the allowed acquisition range completely covers the target area, and the current area of ​​the image acquisition device does not completely cover the target area, the attitude adjustment data is determined based on the geographical location information, the current location information, and the current acquisition angle of the image acquisition device.

7. The method according to any one of claims 1-6, characterized in that, Based on the pose adjustment data, the pose of the image acquisition device is adjusted, including: Obtain the adjustment rate for adjusting the pose of the image acquisition device; The image acquisition device is adjusted in pose according to the adjustment rate and the pose adjustment data.

8. An image display method, characterized in that, Applied to a target vehicle, the method includes: In response to a switching operation in the vehicle map to switch the collection area to the target area, the geographical location information corresponding to the target area is obtained; The geographic location information is sent to a mobile image acquisition device, so that the image acquisition device determines pose adjustment data based on the geographic location information and the current pose data of the image acquisition device, adjusts the pose of the image acquisition device according to the pose adjustment data, and acquires a regional image of the target area after the pose adjustment is completed. Receive the region image of the target area acquired by the image acquisition device; Based on the geographic location information, the region image of the target area is controlled to be displayed at the corresponding location of the target area in the vehicle map.

9. The method according to claim 8, characterized in that, Obtaining the geographic location information corresponding to the target area includes: Determine the coordinates of the target area in the vehicle map; Based on the correspondence between the coordinate information and geographical location information of each area in the vehicle map, and the coordinate information of the target area in the vehicle map, the geographical location information corresponding to the target area is determined.

10. The method according to claim 8 or 9, characterized in that, The method further includes: Obtain the switching rate of the switching operation; The adjustment rate is determined based on the switching rate; The adjustment rate is sent to the image acquisition device so that the image acquisition device can adjust its pose according to the adjustment rate and the pose adjustment data.

11. The method according to claim 10, characterized in that, The step of obtaining the switching rate of the switching operation includes: The switching operation is a drag operation on the image display box in the vehicle map. The switching rate of the switching operation is determined according to the drag speed of the drag operation. The switching operation is a click operation on the target area in the vehicle map. The switching rate of the switching operation is determined based on the number of clicks in the first time period.

12. An image display device, characterized in that, Configured in a portable image acquisition device, the device includes: The receiving module is configured to receive the geographic location information of the target area sent by the target vehicle in response to a switching operation that switches the acquisition area to the target area in the vehicle map when the area image acquired by the image acquisition device is displayed in the vehicle map of the target vehicle. The determination module is used to determine pose adjustment data based on the geographic location information and the current pose data of the image acquisition device; The adjustment module is used to adjust the pose of the image acquisition device according to the pose adjustment data, and to acquire a regional image of the target area after the pose adjustment is completed. The sending module is used to send the area image of the target area to the target vehicle, so that the target vehicle controls the area image of the target area to be displayed at the corresponding location of the target area in the vehicle map according to the geographical location information.

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