Trajectory processing method and device, computer device and storage medium

Abstract

This application discloses a trajectory processing method, apparatus, computer device, and storage medium, belonging to the field of Internet technology. The method includes: determining a point of interest (PO) and multiple trajectory points, where each trajectory point refers to its location when an environmental image is captured during movement; if a trajectory point is located in the region to the left of the PO, and the angle between the direction of rotation from the PO's orientation clockwise and the trajectory point's movement direction falls within a first angle range, then the trajectory point is determined to be a valid trajectory point of the PO; if a trajectory point is located in the region to the right of the PO, and the angle between the direction of rotation from the PO's orientation counterclockwise and the trajectory point's movement direction falls within a first angle range, then the trajectory point is determined to be a valid trajectory point of the PO; wherein, the environmental image corresponding to the valid trajectory point is used to identify the PO. This application can filter out valid trajectory points and eliminate invalid data, saving time spent on subsequent processing and improving processing efficiency.

Description

Technical Field

[0001] This application relates to the field of Internet technology, and in particular to a trajectory processing method, apparatus, computer device, and storage medium. Background Technology

[0002] In Geographic Information Systems (GIS), a Point of Interest (POI) is a specific location on a map, such as the location of a restaurant, hotel, supermarket, or tourist attraction. To collect information about POIs, images are typically taken at various points along the movement of a moving object, and information related to the POI is identified from the captured images.

[0003] However, the amount of collected data is large and the quality varies. Due to the influence of the relative position between the point of interest and the trajectory point, the images taken at some trajectory points do not contain information related to the point of interest. In other words, some trajectory points are invalid. Therefore, there is an urgent need to provide a way to filter valid trajectory points. Summary of the Invention

[0004] This application provides a trajectory processing method, apparatus, computer device, and storage medium, which can filter out valuable trajectory points and eliminate invalid data, thereby saving time spent on subsequent processing and improving processing efficiency. The technical solution is as follows:

[0005] On the one hand, a trajectory processing method is provided, the method comprising:

[0006] Identify points of interest and multiple trajectory points, where each trajectory point refers to the location point where the environmental image was captured during the movement;

[0007] If the trajectory point is located in the left region of the point of interest, and the angle between the clockwise rotation from the orientation of the point of interest to the direction of movement of the trajectory point is within the first angle range, then the trajectory point is determined to be a valid trajectory point of the point of interest. The left region refers to the region covered by the left side of the first straight line when the orientation of the point of interest is taken as the reference. The first straight line is the straight line where the orientation of the point of interest is located.

[0008] If the trajectory point is located in the right region of the point of interest, and the angle between the direction of the point of interest and the direction of movement of the trajectory point is within the first angle range, then the trajectory point is determined to be a valid trajectory point of the point of interest. The right region refers to the area covered by the right side of the first straight line when the direction of the point of interest is taken as the reference.

[0009] The environmental image corresponding to the valid trajectory point is used to identify the point of interest.

[0010] On the other hand, a trajectory processing apparatus is provided, the apparatus comprising:

[0011] The first determining module is used to determine points of interest and multiple trajectory points, wherein each trajectory point refers to the location point when the environmental image is captured during the movement.

[0012] The second determining module is used to determine that the trajectory point is a valid trajectory point of the interest point if the angle between the direction of the interest point and the direction of movement of the trajectory point is within a first angle range when the trajectory point is located in the left region of the interest point. The left region refers to the region covered by the left side of the first straight line when the direction of the interest point is taken as the reference. The first straight line is the straight line where the direction of the interest point is located.

[0013] The second determining module is further configured to, when the trajectory point is located in the right region of the point of interest, determine that the trajectory point is a valid trajectory point of the point of interest if the angle between the direction of the point of interest and the direction of movement of the trajectory point is within the first angle range. The right region refers to the area covered by the right side of the first straight line when the direction of the point of interest is taken as the reference.

[0014] The environmental image corresponding to the valid trajectory point is used to identify the point of interest.

[0015] Optionally, the first angle range refers to the angle range between the first angle and the second angle, wherein the first angle is less than the second angle, the first angle is not less than 0 degrees, and the second angle is not greater than 180 degrees.

[0016] Optionally, the second determining module is further configured to:

[0017] If the trajectory point is located on the first ray, and the angle between the direction of the point of interest and the direction of movement of the trajectory point is within the second angle range, then the trajectory point is determined to be a valid trajectory point of the point of interest.

[0018] Wherein, the origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

[0019] Optionally, the second angle range refers to the angle range between the third angle and the fourth angle, wherein the third angle is less than the fourth angle, the third angle is not less than 90 degrees, and the fourth angle is not greater than 270 degrees.

[0020] Optionally, the first determining module is configured to:

[0021] Determine the point of interest and multiple candidate trajectory points;

[0022] Among the multiple candidate trajectory points, the multiple trajectory points that meet the location conditions are selected.

[0023] Optionally, the location conditions include at least one of the following:

[0024] The distance between the trajectory point and the point of interest is no greater than a preset distance;

[0025] The trajectory point is located in the visible area, which is the area between the second ray and the third ray. The origin of the second ray is the point of interest, and the direction of the second ray is the direction after rotating the orientation of the point of interest counterclockwise by a fifth angle. The origin of the third ray is the point of interest, and the direction of the third ray is the direction after rotating the orientation of the point of interest clockwise by the fifth angle.

[0026] Optionally, the device further includes a third determining module, used for:

[0027] Determine the orientation angle of the point of interest and the azimuth angle of the trajectory point. The orientation angle of the point of interest is the angle between the direction from due north to the orientation of the point of interest, and the azimuth angle of the trajectory point is the angle between the direction from due north to the position direction of the trajectory point. The position direction of the trajectory point is the direction from the point of interest to the trajectory point.

[0028] If the azimuth angle of the trajectory point is greater than the difference between the orientation angle of the point of interest and the fifth angle, and less than the sum of the orientation angle of the point of interest and the fifth angle, then the trajectory point is determined to be located in the visible area.

[0029] Optionally, the third determining module is configured to:

[0030] If the azimuth angle of the trajectory point is greater than the difference between the orientation angle of the point of interest and the fifth angle, and less than the orientation angle of the point of interest, then the trajectory point is determined to be located in the left visible area, where the left visible area refers to the visible area within the left region of the point of interest.

[0031] If the azimuth angle of the trajectory point is greater than the orientation angle of the point of interest, and less than the sum of the orientation angle of the point of interest and the fifth angle, then the trajectory point is determined to be located in the right visible area, where the right visible area refers to the visible area within the right region of the point of interest.

[0032] Optionally, the device further includes a third determining module, used for:

[0033] A rectangular coordinate system is created with the point of interest as the origin, where the horizontal axis of the rectangular coordinate system is due east and the vertical axis is due north.

[0034] Convert the latitude and longitude coordinates of the trajectory points into rectangular coordinates in the rectangular coordinate system;

[0035] If the first ray coincides with any half-axis of the coordinate system of the rectangular coordinate system, and the rectangular coordinate of the trajectory point is located in the quadrant adjacent to the half-axis, then the trajectory point is determined to be located in the visible area, the origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

[0036] Optionally, the device further includes a third determining module, used for:

[0037] A rectangular coordinate system is created with the point of interest as the origin, where the horizontal axis of the rectangular coordinate system is due east and the vertical axis is due north.

[0038] Convert the latitude and longitude coordinates of the trajectory points into rectangular coordinates in the rectangular coordinate system;

[0039] If the rectangular coordinates of the trajectory point are located on any half axis of the coordinate system, and the first ray points to the quadrant adjacent to the half axis, then the trajectory point is determined to be located in the visible area, the origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

[0040] Optionally, the multiple trajectory points belong to the same set of trajectory data, which includes trajectory point information of each trajectory point passed during the movement and environmental images captured at each trajectory point; the device further includes a data filtering module, used for:

[0041] If at least one of the valid trajectory points exists in the trajectory data, then the trajectory data is retained;

[0042] If no valid trajectory point exists in the trajectory data, then the trajectory data is filtered.

[0043] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to perform the operations performed by the trajectory processing method as described above.

[0044] On the other hand, a computer-readable storage medium is provided, wherein at least one computer program is stored therein, the at least one computer program being loaded and executed by a processor to perform the operations performed by the trajectory processing method as described above.

[0045] On the other hand, a computer program product is provided, including a computer program loaded and executed by a processor to perform the operations performed by the trajectory processing method as described above.

[0046] The solution provided in this application, since the position and movement direction of the trajectory point affect the viewing angle range of the image captured at the trajectory point, filters valid trajectory points based on the relative position of the trajectory point and the point of interest, as well as the angle between the movement direction of the trajectory point and the orientation of the point of interest. This ensures that when capturing environmental images from the filtered valid trajectory points, the point of interest is within the viewing angle range of the image, allowing for subsequent identification of the point of interest in the corresponding environmental image. Therefore, this application can filter out valuable trajectory points and eliminate invalid data, saving time spent on subsequent point of interest identification and improving processing efficiency. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of a computer system provided in an embodiment of this application;

[0049] Figure 2 This is a flowchart of a trajectory processing method provided in an embodiment of this application;

[0050] Figure 3 This is a flowchart of another trajectory processing method provided in the embodiments of this application;

[0051] Figure 4 This is a flowchart of a trajectory point determination method provided in an embodiment of this application;

[0052] Figure 5 This is a schematic diagram of a visible area and direction provided in an embodiment of this application;

[0053] Figure 6 This is a flowchart of another trajectory point determination method provided in the embodiments of this application;

[0054] Figure 7This is a flowchart of another trajectory processing method provided in the embodiments of this application;

[0055] Figure 8 This is a flowchart of another trajectory processing method provided in the embodiments of this application;

[0056] Figure 9 This is a flowchart of another trajectory processing method provided in the embodiments of this application;

[0057] Figure 10 This is a flowchart of another trajectory processing method provided in the embodiments of this application;

[0058] Figure 11 This is a schematic diagram of the structure of a trajectory processing device provided in an embodiment of this application;

[0059] Figure 12 This is a schematic diagram of another trajectory processing device provided in an embodiment of this application;

[0060] Figure 13 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application;

[0061] Figure 14 This is a schematic diagram of the structure of a server provided in an embodiment of this application. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0063] It is understood that the terms "first," "second," etc., used in this application may be used to describe various concepts herein, but unless otherwise stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of this application, a first ray may be referred to as a second ray, and similarly, a second ray may be referred to as a first ray.

[0064] "At least one" refers to one or more. For example, at least one trajectory point can be one trajectory point, two trajectory points, three trajectory points, or any integer number of trajectory points greater than or equal to one. "Multiple" refers to two or more. For example, multiple trajectory points can be two trajectory points, three trajectory points, or any integer number of trajectory points greater than or equal to two. "Each" refers to each of the at least one trajectory point. For example, each trajectory point refers to each of the multiple trajectory points. If the multiple trajectory points are three trajectory points, then each trajectory point refers to each of the three trajectory points.

[0065] It should be noted that the information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data used for analysis, data stored, data displayed, etc.) and signals (including but not limited to signals transmitted between user terminals and other devices) involved in this application have all been fully authorized by the user or relevant parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0066] For example, the points of interest, trajectory points, environmental images, trajectory data, etc. involved in this application are all fully authorized by the user or relevant parties, and the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0067] The trajectory processing method provided in this application can be used in computer devices. Optionally, the computer device is a terminal or a server. This application can be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, smart transportation, and assisted driving.

[0068] Figure 1 This is a schematic diagram of a computer system provided in an embodiment of this application. See also... Figure 1 The computer system includes a terminal 101 and a server 102. The terminal 101 and the server 102 are connected via a wireless or wired network.

[0069] Terminal 101 has a client 111 installed and running. This client 111 can be a map navigation client, video client, news and information client, social application client, online payment client, online shopping client, game client, medical service client, app store client, etc. When terminal 101 runs client 111, the user interface of client 111 is displayed on the screen of terminal 101. Terminal 101 is the terminal used by user 121.

[0070] Optionally, terminal 101 may refer to one of a number of terminals, including: smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, smart voice interaction devices, smart home appliances, in-vehicle terminals, aircraft, VR (Virtual Reality) devices, AR (Augmented Reality) devices, etc., but not limited to these.

[0071] Those skilled in the art will understand that the number of terminals described above can be more or less. For example, there may be only one terminal, or there may be six, eight, or more terminals. This application does not limit the number of terminals or the type of device.

[0072] Figure 1Only one terminal is shown in the diagram, but in different embodiments, multiple other terminals 103 can access the server 102. Optionally, one or more terminals 103 may also be terminals corresponding to developers, on which a client development and editing platform is installed. Developers can edit and update the client on the terminal 103 and transmit the updated client installation package to the server 102 via wired or wireless network. Terminal 101 can download the client installation package from the server 102 to update the client.

[0073] Terminal 101 and other terminals 103 are connected to server 102 via wired or wireless networks.

[0074] Server 102 includes at least one of a single server, multiple servers, a cloud computing platform, and a virtualization center. Server 102 is used to provide background services to clients. Optionally, server 102 undertakes the main computing work, and the first terminal 101 undertakes the secondary computing work; or, server 102 undertakes the secondary computing work, and the first terminal 101 undertakes the main computing work; or, server 102 and the first terminal 101 use a distributed computing architecture for collaborative computing.

[0075] In this embodiment, terminal 101 captures environmental images during movement. The location where the environmental image is captured can be called a trajectory point. Terminal 101 uploads the collected trajectory data to server 102 in real time. The trajectory data includes trajectory point information and environmental images captured at the trajectory points. When server 102 receives trajectory data uploaded by various terminals, it uses the trajectory processing method provided in this embodiment to filter valid trajectory points and invalid trajectory points from multiple sets of trajectory data for any point of interest. Subsequently, points of interest can be identified in the environmental images corresponding to the valid trajectory points.

[0076] It should be noted that the above implementation environment is only an example. The method provided in this application embodiment can also be executed by terminal 101 or server 102 alone, or by other computer devices. This application embodiment does not limit this.

[0077] Figure 2 This is a flowchart of a trajectory processing method provided in an embodiment of this application. This embodiment is executed by a computer device. See also... Figure 2 The method includes:

[0078] 201. The computer device determines the point of interest and multiple trajectory points. Each trajectory point refers to the location point when the environmental image is captured during the movement.

[0079] Computer equipment identifies points of interest (POIs). A POI is a specific location on a map, such as the location of a restaurant, hotel, supermarket, or tourist attraction.

[0080] The computer device determines multiple trajectory points. During the movement of the moving object, environmental images are captured at preset time intervals or after each preset distance; for example, the moving object may be a vehicle. Although the moving object will pass through countless location points during its movement, in this application, the location where the environmental image is captured is referred to as a trajectory point.

[0081] Optionally, the multiple trajectory points can be trajectory points traversed by the same moving object during its movement. For example, the multiple trajectory points are multiple trajectory points that the moving object passes through sequentially along a trajectory route.

[0082] Optionally, the multiple trajectory points can be trajectory points traversed by different moving objects during their movement. For example, the multiple trajectory points are those located in the same geographical area as the point of interest among the trajectory points traversed by multiple different moving objects.

[0083] The purpose of this application embodiment is to filter out effective trajectory points for points of interest from multiple trajectory points. Specifically, if a photograph is taken while passing a trajectory point during movement, and the point of interest is within the field of view of the photograph taken from that trajectory point, that is, if the environmental image captured contains the point of interest, then that trajectory point is called an effective trajectory point for that point of interest.

[0084] Therefore, the environmental images corresponding to valid trajectory points are used to identify points of interest (POIs). The purpose of identifying POIs in real-time acquired environmental images is to obtain the latest status of the POIs. For example, if the POI is a restaurant, then based on the acquired environmental images containing the restaurant, it can be determined whether the restaurant is currently open, etc.

[0085] 202. If the angle between the trajectory point and the direction of movement of the trajectory point, when the trajectory point is located to the left of the point of interest, falls within the first angle range, then the trajectory point is determined to be a valid trajectory point of the point of interest.

[0086] The area to the left of the point of interest (POI) refers to the region covered by the left side of the first straight line, which is the line pointing towards the POI. The POI's orientation refers to the direction it faces; for example, if the POI is a restaurant, the restaurant's orientation refers to the direction its entrance faces.

[0087] Determining the left and right sides of the first straight line based on the orientation of the point of interest means using the first straight line as a reference and the orientation facing the point of interest to determine the left and right sides of the first straight line. For example, as... Figure 3As shown, point of interest M is located on the first straight line 301, and the direction of point of interest M is due north (the direction the arrow points). Trajectory point P is located in the region to the left of point of interest M, and trajectory point Q is located in the region to the right of point of interest M.

[0088] For each trajectory point, if the trajectory point is located to the left of the point of interest, it is determined whether the angle between the orientation of the point of interest and the direction of movement of the trajectory point (clockwise rotation) falls within a first angle range. If it does, the trajectory point is determined to be a valid trajectory point; otherwise, it is determined to be an invalid trajectory point. Here, the direction of movement of the trajectory point refers to the direction of movement of the moving object when passing through the trajectory point. In this embodiment, the shooting direction when taking a picture at the trajectory point is the same as the direction of movement when passing through the trajectory point. Therefore, the viewing angle range when taking a picture at the trajectory point is closely related to the direction of movement of the trajectory point. Therefore, by determining the angle between the orientation of the point of interest and the direction of movement of the trajectory point, it is possible to infer whether the point of interest is within the viewing angle range when taking a picture at the trajectory point.

[0089] The first angle range can be flexibly set according to the actual situation, but it is necessary to ensure that when the angle between the trajectory point located on the left side and the direction of the trajectory point rotating clockwise from the direction of the point of interest to the direction of movement of the trajectory point is within the first angle range, the point of interest is located within the field of view of the trajectory point being photographed.

[0090] In one possible implementation, the first angle range refers to the angle range between the first angle and the second angle, wherein the first angle is less than the second angle, the first angle is not less than 0 degrees, and the second angle is not greater than 180 degrees.

[0091] For example, if the first angle is 0 degrees and the second angle is 180 degrees, then... Figure 3 As shown, the angle between the direction of rotation clockwise from the point of interest M and the direction of movement of the trajectory point P is between 0 and 180 degrees; therefore, trajectory point P is a valid trajectory point. Figure 3 As can be seen, the movement direction of trajectory point P is towards point of interest M. The shooting direction at trajectory point P is the same as the movement direction at trajectory point P. Therefore, point of interest M is within the field of view of trajectory point P.

[0092] 203. If, when a computer device has a trajectory point located in the area to the right of a point of interest, the angle between the direction of the trajectory point being rotated counterclockwise from the point of interest and the direction of movement of the trajectory point falls within the first angle range, then the trajectory point is determined to be a valid trajectory point of the point of interest.

[0093] The area to the right of the point of interest refers to the area covered by the right side of the first straight line when the orientation of the point of interest is taken as the reference. The first straight line is the straight line where the orientation of the point of interest is located.

[0094] For each trajectory point, if the trajectory point is located in the right region of the point of interest, then determine whether the angle between the direction of the point of interest and the direction of movement of the trajectory point is within the first angle range. If it is, then the trajectory point is determined to be a valid trajectory point; otherwise, the trajectory point is determined to be an invalid trajectory point.

[0095] The first angle range can be flexibly set according to the actual situation, but it is necessary to ensure that when the angle between the trajectory point located on the right side and the direction of the trajectory point's movement from the point of interest to the direction of the trajectory point's movement is within the first angle range, the point of interest is located within the field of view of the trajectory point being photographed.

[0096] In one possible implementation, the first angle range refers to the angle range between the first angle and the second angle, wherein the first angle is less than the second angle, the first angle is not less than 0 degrees, and the second angle is not greater than 180 degrees.

[0097] For example, if the first angle is 0 degrees and the second angle is 180 degrees, then... Figure 3 As shown, the angle between the direction of the interest point M and the direction of movement of the trajectory point Q, which is counterclockwise, does not fall between 0 and 180 degrees; therefore, trajectory point Q is an invalid trajectory point. Figure 3 As can be seen, the movement direction of trajectory point Q is away from the point of interest M. The shooting direction of trajectory point Q is the same as the movement direction of trajectory point Q. Therefore, the point of interest M is not within the field of view of trajectory point Q.

[0098] The method provided in this application, since the position and movement direction of a trajectory point affect the viewing angle range for shooting at that trajectory point, filters valid trajectory points based on the relative position of the trajectory point and the point of interest, as well as the angle between the movement direction of the trajectory point and the orientation of the point of interest. This ensures that when shooting environmental images from the filtered valid trajectory points, the point of interest is within the shooting viewing angle range, so that the point of interest can be identified in the environmental image corresponding to the valid trajectory point. Therefore, this application can filter out valuable trajectory points and eliminate invalid data, which helps save time spent on subsequent point of interest identification and improves processing efficiency.

[0099] Figure 4 This is a flowchart of another trajectory processing method provided in this application embodiment. This application embodiment is executed by a computer device. See also... Figure 4 The method includes:

[0100] 401. The computer device determines points of interest and multiple candidate trajectory points in the trajectory data, which includes trajectory point information of multiple candidate trajectory points passed during the movement and environmental images taken at each candidate trajectory point.

[0101] Computer equipment identifies points of interest (POIs). A POI is a specific location on a map, such as the location of a restaurant, hotel, supermarket, or tourist attraction. Optionally, identifying a POI involves acquiring its information, including its location and orientation. The location of a POI can be represented by its latitude and longitude coordinates, and its orientation can be represented by its orientation angle, which is the angle between true north and the direction the POI faces.

[0102] Computer equipment identifies multiple candidate trajectory points in the trajectory data. This trajectory data is a set of continuously sampled trajectory data, that is, the trajectory data collected as a moving object moves along a trajectory route, passing through multiple candidate trajectory points in sequence.

[0103] The trajectory data includes trajectory point information, where a trajectory point refers to the location of the point when the environmental image is captured during the movement. Trajectory point information includes the position of the trajectory point and its direction of movement. The position of a trajectory point can be represented by its latitude and longitude coordinates, and the direction of movement can be represented by its orientation angle, which is the angle between true north and the direction of movement.

[0104] 402. The computer equipment selects multiple trajectory points that meet the location conditions from multiple candidate trajectory points.

[0105] Location conditions refer to the conditions that the location of a trajectory point must meet. In this embodiment of the application, before filtering valid trajectory points based on the movement direction of the trajectory points, multiple trajectory points are initially filtered out from multiple candidate trajectory points based on their positions. The filtered trajectory points participate in the subsequent processing steps 403-405, while the remaining trajectory points do not participate in the subsequent processing steps 403-405.

[0106] The location conditions can be preset or set in real time based on the type of point of interest, shooting parameters at the trajectory point, etc. However, it is necessary to ensure that the point of interest can be captured at the trajectory point when the set location conditions are met, so as to filter valuable trajectory points according to the location conditions.

[0107] In one possible implementation, the location condition includes at least one of the following:

[0108] (1) The distance between the trajectory point and the point of interest is not greater than the preset distance.

[0109] The preset distance can be the maximum shooting distance of the camera equipment used when shooting at the trajectory point. Setting the location condition to ensure that the distance between the location and the point of interest is no greater than the preset distance guarantees that the point of interest can be captured at the trajectory point.

[0110] (2) The trajectory point is located in the visible area, which is the area between the second ray and the third ray. The origin of the second ray is the point of interest, and the direction of the second ray is the direction after rotating the direction of the point of interest counterclockwise by five angles. The origin of the third ray is the point of interest, and the direction of the third ray is the direction after rotating the direction of the point of interest clockwise by five angles.

[0111] The region between the second and third rays refers to the area covered by the third ray when rotating clockwise from the origin of the second ray. When the trajectory point is within the visible area, the front of the point of interest can be observed from the trajectory point; when the trajectory point is outside the visible area, the front of the point of interest may not be observed from the trajectory point.

[0112] Optionally, the fifth angle is not less than 0 degrees and not greater than 90 degrees. For example, if the fifth angle is equal to 90 degrees, then... Figure 3 As shown, both the second and third rays are perpendicular to the orientation of the point of interest. Trajectory points P and Q are both within the visible area, with trajectory point P located in the left region and trajectory point Q in the right region. Trajectory point R, however, is not within the visible area, so it will be filtered out in step 403 and will not participate in subsequent processing.

[0113] In this implementation, since the visible area is the area covered by rotating clockwise and counterclockwise based on the orientation of the point of interest, for trajectory points not located in the visible area, the front of the point of interest cannot be captured from these trajectory points. Therefore, trajectory points not located in the visible area are removed, and only trajectory points located in the visible area are selected. Then, in the following steps, the selected trajectory points are further judged to determine whether they are valid trajectory points. On the one hand, this can reduce the processing burden, and on the other hand, it can ensure that the environmental image corresponding to the finally determined valid trajectory points includes the front of the point of interest.

[0114] In one possible implementation, there are several ways to determine whether a trajectory point is located within the visible area. For example... Figure 5 As shown, the first method for determining whether a trajectory point is located within the visible area includes the following steps 501-502.

[0115] 501. Determine the orientation angle of the point of interest and the azimuth angle of the trajectory point. The orientation angle of the point of interest is the angle between the orientation of the point of interest and the orientation of the point of interest when rotated clockwise from due north. The azimuth angle of the trajectory point is the angle between the orientation of the point of interest and the orientation of the trajectory point when rotated clockwise from due north. The orientation of the trajectory point is the direction from the point of interest to the trajectory point.

[0116] like Figure 6As shown, a rectangular coordinate system is created with the point of interest O as the origin. The horizontal axis of the rectangular coordinate system is due east, and the vertical axis is due north. Figure 6 The black arrow in the diagram points in the direction of the point of interest O, and the orientation angle of point of interest O is θ. The azimuth angle of trajectory point P is...

[0117] Specifically, the latitude and longitude coordinates of the point of interest O are transformed to a rectangular coordinate system to obtain the coordinates of the point of interest (x0, y0), and the latitude and longitude coordinates of the trajectory point P are transformed to a rectangular coordinate system to obtain the coordinates of the trajectory point (xi, yi). The azimuth angle of the trajectory point P is also calculated. It can be determined by the following formula (1).

[0118]

[0119] 502. If the azimuth of the trajectory point is greater than the difference between the orientation angle of the point of interest and the fifth angle, and less than the sum of the orientation angle of the point of interest and the fifth angle, then the trajectory point is determined to be located in the visible area.

[0120] The computer device determines the difference between the orientation angle and the fifth angle of the point of interest, as well as the sum of the orientation angle and the fifth angle. If the azimuth angle of the trajectory point falls within the range between the difference and the sum, the trajectory point is determined to be within the visible area. If the azimuth angle of the trajectory point does not fall within the range between the difference and the sum, the trajectory point is determined to be outside the visible area.

[0121] Optionally, the visible area includes a left-side visible area and a right-side visible area. Therefore, there are two possible scenarios.

[0122] (1) If the azimuth of the trajectory point is greater than the difference between the orientation angle of the point of interest and the fifth angle, and less than the orientation angle of the point of interest, then the trajectory point is located in the left visible area. The left visible area refers to the visible area in the left region of the point of interest.

[0123] Optionally, the fifth angle is equal to 90 degrees (i.e., π / 2). The azimuth of the trajectory point is... Let the orientation angle of the point of interest be θ. Then, when... At that time, the trajectory point is determined to be located in the visible area on the left.

[0124] (2) If the azimuth angle of the trajectory point is greater than the orientation angle of the point of interest, and less than the sum of the orientation angle of the point of interest and the fifth angle, then the trajectory point is located in the right visible area. The right visible area refers to the visible area within the right region of the point of interest.

[0125] Optionally, the fifth angle is equal to 90 degrees (i.e., π / 2). The azimuth of the trajectory point is... Let the orientation angle of the point of interest be θ. Then, when... At that time, the trajectory point is determined to be located in the visible area on the right.

[0126] In addition to the two cases mentioned above, the location of a trajectory point on the first ray can also be determined by the ratio between its azimuth and the orientation angle of the point of interest. The origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest. Specifically, if the azimuth of the trajectory point equals the orientation angle of the point of interest, then the trajectory point is determined to be on the first ray.

[0127] For example, the azimuth angle of the trajectory point is Let the orientation angle of the point of interest be θ. Then, when... At that time, the trajectory point is determined to be located on the first ray.

[0128] In this implementation, by comparing the azimuth angle of the trajectory point with the orientation angle of the point of interest, it is possible to accurately determine whether the trajectory point is located within the visible area. This provides a quantitative calculation method for determining whether a trajectory point is located within the visible area, which can effectively avoid misjudgment and improve the accuracy and efficiency of trajectory point selection.

[0129] Furthermore, by further refining the relationship between the azimuth angle of the trajectory point and the orientation angle of the point of interest, it is possible to identify whether the trajectory point is located in the left or right visible area, providing a quantitative calculation method to determine which visible area the trajectory point is located in, thereby further improving the accuracy of trajectory point selection.

[0130] like Figure 7 As shown, the second method for determining whether a trajectory point is located within the visible area includes steps 701-703. Here, the fifth angle is equal to 90 degrees.

[0131] 701. Create a rectangular coordinate system with the point of interest as the origin. The horizontal axis of the rectangular coordinate system is due east, and the vertical axis is due north.

[0132] 702. Convert the latitude and longitude coordinates of the trajectory points to rectangular coordinates in a rectangular coordinate system.

[0133] 703. When the first ray coincides with any half axis of the coordinate system of the rectangular coordinate system, if the rectangular coordinates of the trajectory point are located in the quadrant adjacent to the half axis, then the trajectory point is determined to be located in the visible area, the origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

[0134] Optionally, if the first ray coincides with the positive half-axis of the horizontal axis, and the rectangular coordinates of the trajectory point are located in the first quadrant or the fourth quadrant, then the trajectory point is determined to be located in the visible area. Specifically, if the rectangular coordinates of the trajectory point are located in the first quadrant, then the trajectory point is determined to be located in the left visible area; if the rectangular coordinates of the trajectory point are located in the fourth quadrant, then the trajectory point is determined to be located in the right visible area.

[0135] Optionally, if the first ray coincides with the negative half-axis of the horizontal axis, and the rectangular coordinates of the trajectory point are located in the second or third quadrant, then the trajectory point is determined to be located in the visible area. Specifically, if the rectangular coordinates of the trajectory point are located in the third quadrant, then the trajectory point is determined to be located in the left visible area; if the rectangular coordinates of the trajectory point are located in the second quadrant, then the trajectory point is determined to be located in the right visible area.

[0136] Optionally, if the first ray coincides with the positive semi-axis of the vertical axis, and the rectangular coordinates of the trajectory point are located in the first quadrant or the second quadrant, then the trajectory point is determined to be located in the visible area. Specifically, if the rectangular coordinates of the trajectory point are located in the second quadrant, then the trajectory point is determined to be located in the left visible area; if the rectangular coordinates of the trajectory point are located in the first quadrant, then the trajectory point is determined to be located in the right visible area.

[0137] Optionally, if the first ray coincides with the negative half-axis of the vertical axis, and the rectangular coordinates of the trajectory point are located in the third or fourth quadrant, then the trajectory point is determined to be located in the visible area. Specifically, if the rectangular coordinates of the trajectory point are located in the fourth quadrant, then the trajectory point is determined to be located in the left visible area; if the rectangular coordinates of the trajectory point are located in the third quadrant, then the trajectory point is determined to be located in the right visible area.

[0138] In addition to the above cases, if the first ray coincides with any half-axis of the coordinate system of the rectangular coordinate system, and the rectangular coordinates of the trajectory point are located on the coincident half-axis, then the trajectory point is determined to be located on the first ray.

[0139] For example, a computer device can determine whether the first ray coincides with any half-axis of the Cartesian coordinate system based on the magnitude of the orientation angle of the point of interest, and determine which quadrant or half-axis the Cartesian coordinates of the trajectory point lie in based on the sign of the Cartesian coordinates. Let the orientation angle of the point of interest be θ. Let the Cartesian coordinates of the trajectory point be (xi, yi). Then, there are four possible cases.

[0140] (1) θ = π / 2, which means that the first ray coincides with the positive half-axis of the horizontal axis.

[0141] When xi>0 and yi>0, the trajectory point is located in the first quadrant, thus determining that the trajectory point is located in the left visible area.

[0142] When xi>0 and yi<0, the trajectory point is located in the fourth quadrant, thus determining that the trajectory point is located in the right visible area.

[0143] When xi>0 and yi=0, the trajectory point is located on the positive half of the horizontal axis, that is, on the first ray.

[0144] (2) θ = 3π / 2, which means that the first ray coincides with the negative half-axis of the horizontal axis.

[0145] When xi < 0 and yi < 0, the trajectory point is located in the third quadrant, thus determining that the trajectory point is located in the left visible area.

[0146] When xi < 0 and yi > 0, the trajectory point is located in the second quadrant, thus determining that the trajectory point is located in the visible area on the right.

[0147] When xi < 0 and yi = 0, the trajectory point is located on the negative half of the horizontal axis, that is, on the first ray.

[0148] (3) θ = 0, which means that the first ray coincides with the positive half-axis of the longitudinal axis.

[0149] When xi < 0 and yi > 0, the trajectory point is located in the second quadrant, thus determining that the trajectory point is located in the left visible area.

[0150] When xi>0 and yi>0, the trajectory point is located in the first quadrant, thus determining that the trajectory point is located in the visible area on the right.

[0151] When xi = 0 and yi > 0, the trajectory point is located on the positive half of the vertical axis, that is, on the first ray.

[0152] (4) θ = π, which means that the first ray coincides with the negative half-axis of the longitudinal axis.

[0153] When xi>0 and yi<0, the trajectory point is located in the fourth quadrant, thus determining that the trajectory point is located in the left visible area.

[0154] When xi < 0 and yi < 0, the trajectory point is located in the third quadrant, thus determining that the trajectory point is located in the visible area on the right.

[0155] When xi = 0 and yi < 0, the trajectory point is located on the negative half of the vertical axis, that is, on the first ray.

[0156] In this implementation, the latitude and longitude coordinates of the trajectory point are converted into rectangular coordinates in a rectangular coordinate system, and the orientation of the point of interest is converted into the first ray in a rectangular coordinate system. Then, based on the positional relationship between the rectangular coordinates of the trajectory point and the first ray, it can be quickly determined whether the trajectory point is located within the visible area. The determination method is simple and fast, which improves the efficiency of determining whether the trajectory point is located within the visible area.

[0157] like Figure 8As shown, the third method for determining whether a trajectory point is located within the visible area includes the following steps 801-803. Wherein, the fifth angle is equal to 90 degrees.

[0158] 801. Create a rectangular coordinate system with the point of interest as the origin. The horizontal axis of the rectangular coordinate system is due east, and the vertical axis is due north.

[0159] 802. Convert the latitude and longitude coordinates of the trajectory points to rectangular coordinates in a rectangular coordinate system.

[0160] 803. When the rectangular coordinates of the trajectory point are located on any half axis of the rectangular coordinate system, if the first ray points to the quadrant adjacent to the half axis, then the trajectory point is determined to be located in the visible area, the origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

[0161] Optionally, if the Cartesian coordinates of the trajectory point are located on the positive half of the horizontal axis, and the first ray points to the first quadrant or the fourth quadrant, then the trajectory point is determined to be within the visible area. Specifically, if the first ray points to the first quadrant, the trajectory point is determined to be within the right visible area; if the first ray points to the fourth quadrant, the trajectory point is determined to be within the left visible area.

[0162] Optionally, if the rectangular coordinates of the trajectory point are located on the negative half of the horizontal axis, and the first ray points to the second or third quadrant, then the trajectory point is determined to be within the visible area. Specifically, if the first ray points to the third quadrant, the trajectory point is determined to be within the right visible area; if the first ray points to the second quadrant, the trajectory point is determined to be within the left visible area.

[0163] Optionally, if the rectangular coordinates of the trajectory point are located on the positive half of the vertical axis, and the first ray points to either the first quadrant or the second quadrant, then the trajectory point is determined to be within the visible area. Specifically, if the first ray points to the second quadrant, the trajectory point is determined to be within the right visible area; if the first ray points to the first quadrant, the trajectory point is determined to be within the left visible area.

[0164] Optionally, if the rectangular coordinates of the trajectory point are located on the negative half of the vertical axis, and the first ray points to the third or fourth quadrant, then the trajectory point is determined to be within the visible area. Specifically, if the first ray points to the fourth quadrant, the trajectory point is determined to be within the right visible area; if the first ray points to the third quadrant, the trajectory point is determined to be within the left visible area.

[0165] In addition to the above cases, if the rectangular coordinates of the trajectory point are located on any half axis of the rectangular coordinate system, and the first ray coincides with that half axis, then the trajectory point is determined to be located on the first ray.

[0166] For example, the computer device determines whether the rectangular coordinates of the trajectory point lie on any half-axis of the rectangular coordinate system based on the sign of the rectangular coordinates, and determines which quadrant or half-axis the first ray points to based on the magnitude of the orientation angle of the point of interest. The orientation angle of the point of interest is θ. The rectangular coordinates of the trajectory point are (xi, yi), and the azimuth angle of the trajectory point is... There are four possible scenarios.

[0167] (1) The coordinates of the trajectory point are (xi, 0), xi > 0. At this time, the azimuth angle of the trajectory point... That is, the trajectory point is located on the positive half of the horizontal axis.

[0168] When θ∈(0,π / 2), the first ray points to the first quadrant, thus determining that the trajectory point is located in the visible area on the right.

[0169] When θ∈(π / 2,π), the first ray points to the fourth quadrant, thus determining that the trajectory point is located in the left visible area.

[0170] When θ = π / 2, the first ray coincides with the positive half-axis of the horizontal axis, thus determining that the trajectory point lies on the first ray.

[0171] (2) The coordinates of the trajectory point are (xi, 0), xi < 0. At this time, the azimuth angle of the trajectory point... That is, the trajectory point is located on the negative half of the horizontal axis.

[0172] When θ∈(π,3π / 2), the first ray points to the third quadrant, thus determining that the trajectory point is located in the visible area on the right.

[0173] When θ∈(3π / 2,2π), the first ray points to the second quadrant, thus determining that the trajectory point is located in the left visible area.

[0174] When θ = 3π / 2, the first ray coincides with the negative half-axis of the horizontal axis, thus determining that the trajectory point is located on the first ray.

[0175] (3) The coordinates of the trajectory point are (0, yi), where yi > 0. At this time, the azimuth angle of the trajectory point... That is, the trajectory point is located on the positive half of the vertical axis.

[0176] When θ∈(0,π / 2), the first ray points to the first quadrant, thus determining that the trajectory point is located in the left visible area.

[0177] When θ∈(3π / 2,2π), the first ray points to the second quadrant, thus determining that the trajectory point is located in the visible area on the right.

[0178] When θ = 0, the first ray coincides with the positive half-axis of the vertical axis, thus determining that the trajectory point is located on the first ray.

[0179] (4) The coordinates of the trajectory point are (0, yi), where yi < 0. At this time, the azimuth angle of the trajectory point... That is, the trajectory point is located on the negative half of the vertical axis.

[0180] When θ∈(π / 2,π), the first ray points to the fourth quadrant, thus determining that the trajectory point is located in the visible area on the right.

[0181] When θ∈(π,3π / 2), the first ray points to the third quadrant, thus determining that the trajectory point is located in the left visible area.

[0182] When θ = π, the first ray coincides with the negative half of the vertical axis, thus determining that the trajectory point lies on the first ray.

[0183] In this implementation, the latitude and longitude coordinates of the trajectory point are converted into rectangular coordinates in a rectangular coordinate system, and the orientation of the point of interest is converted into the first ray in a rectangular coordinate system. Then, based on the positional relationship between the rectangular coordinates of the trajectory point and the first ray, it can be quickly determined whether the trajectory point is located within the visible area. The determination method is simple and fast, which improves the efficiency of determining whether the trajectory point is located within the visible area.

[0184] like Figure 9 As shown, the fourth method for determining whether a trajectory point is located within the visible area includes the following steps 901-903.

[0185] 901. Create a polar coordinate system with the point of interest as the pole and the first ray as the polar axis. In this polar coordinate system, the counterclockwise direction is positive.

[0186] 902. Based on the orientation of the point of interest and the position direction of the trajectory point, determine the polar angle of the trajectory point in the polar coordinate system. The polar angle of the trajectory point is equal to the angle between the orientation of the point of interest and the position direction of the trajectory point. The position direction of the trajectory point refers to the direction from the point of interest to the trajectory point.

[0187] 903. If the polar angle of the trajectory point is greater than 0 degrees and less than the fifth angle, or the polar angle of the trajectory point is greater than the difference between 360 degrees and the fifth angle and less than 360 degrees, then the trajectory point is determined to be located in the visible area. Optionally, the fifth angle is not greater than 90 degrees.

[0188] Optionally, if the polar angle of the trajectory point is greater than 0 degrees and less than the fifth angle, then the trajectory point is determined to be located in the left visible area. Optionally, if the polar angle of the trajectory point is greater than the difference between 360 degrees and the fifth angle and less than 360 degrees, then the trajectory point is determined to be located in the right visible area.

[0189] In addition to the above cases, if the polar angle of the trajectory point is equal to 0 degrees, then the trajectory point is determined to be located on the first ray.

[0190] For example, the fifth angle is equal to 90 degrees. Then, when the polar angle of the trajectory point is greater than 0 degrees and less than 90 degrees, the trajectory point is located in the left visible area; when the polar angle of the trajectory point is greater than 270 degrees and less than 360 degrees, the trajectory point is located in the right visible area; when the polar angle of the trajectory point is equal to 0 degrees, the trajectory point is located on the first ray.

[0191] 403. If, when a computer device rotates clockwise from the direction of the point of interest to the direction of movement of the trajectory point, the angle between the trajectory point and the trajectory point's direction of rotation is within the first angle range, then the trajectory point is determined to be a valid trajectory point of the point of interest.

[0192] The left-side region refers to the area covered to the left of the first straight line when the orientation of the point of interest is taken as the reference. The first straight line is the straight line where the orientation of the point of interest is located.

[0193] In this embodiment, valid and invalid trajectory points are selected. Invalid trajectory points are any trajectory points other than valid ones. Within the viewing angle of a valid trajectory point, the front of the point of interest can be observed; therefore, the environmental image corresponding to a valid trajectory point is more likely to contain the front of the point of interest, and this environmental image is used to identify the point of interest. Conversely, within the viewing angle of an invalid trajectory point, the front of the point of interest is difficult to observe; therefore, the environmental image corresponding to an invalid trajectory point is more likely to contain the front of the point of interest, and the point of interest is difficult to identify in this environmental image.

[0194] In one possible implementation, the first angle range refers to the angle range between the first angle and the second angle, wherein the first angle is less than the second angle, the first angle is not less than 0 degrees, and the second angle is not greater than 180 degrees.

[0195] Optionally, the orientation angle of the trajectory point is determined. The orientation angle of the trajectory point refers to the angle between rotating clockwise from due north to the direction of movement of the trajectory point. When the trajectory point is located in the region to the left of the point of interest, if the orientation angle of the trajectory point is not less than the sum of the orientation angle of the point of interest and a first angle, and not greater than the sum of the orientation angle of the point of interest and a second angle, then the angle between rotating clockwise from the orientation of the point of interest to the direction of movement of the trajectory point is determined to be within the range of the first angle, that is, the trajectory point is a valid trajectory point of the point of interest.

[0196] For example, if the first angle is 0 degrees and the second angle is 180 degrees, then... Figure 6 As shown, the orientation angle of the point of interest is θ, and the orientation angle of the trajectory point P located in the left visible area is δ. When δ∈(θ,θ+π), the angle between the clockwise rotation from the orientation of the point of interest to the movement direction of the trajectory point P is determined to be within the first angle range, that is, the trajectory point P is a valid trajectory point of the point of interest.

[0197] 404. If, when a computer device has a trajectory point located in the area to the right of a point of interest, the angle between the direction of the trajectory point being rotated counterclockwise from the point of interest and the direction of movement of the trajectory point falls within the first angle range, then the trajectory point is determined to be a valid trajectory point of the point of interest.

[0198] The right-side region refers to the area covered by the right side of the first straight line when the orientation of the point of interest is taken as the reference.

[0199] In one possible implementation, the first angle range refers to the angle range between the first angle and the second angle, wherein the first angle is less than the second angle, the first angle is not less than 0 degrees, and the second angle is not greater than 180 degrees.

[0200] Optionally, the orientation angle of the trajectory point is determined. The orientation angle of the trajectory point is the angle between rotating clockwise from due north to the direction of movement of the trajectory point. When the trajectory point is located in the region to the right of the point of interest, if the orientation angle of the trajectory point is not less than the difference between the orientation angle of the point of interest and the second angle, and not greater than the difference between the orientation angle of the point of interest and the first angle, then the angle between rotating counterclockwise from the orientation of the point of interest to the direction of movement of the trajectory point is determined to be within the range of the first angle, that is, the trajectory point is a valid trajectory point of the point of interest.

[0201] For example, if the first angle is 0 degrees and the second angle is 180 degrees, then... Figure 6 As shown, the orientation angle of the point of interest is θ, and the orientation angle of the trajectory point Q located in the visible area on the right is δ. When δ∈(θ-π,θ), the angle between the clockwise rotation from the orientation of the point of interest to the movement direction of the trajectory point Q is determined to be within the first angle range, that is, the trajectory point Q is a valid trajectory point of the point of interest.

[0202] 405. If, when the trajectory point is located on the first ray, the angle between the direction of the point of interest and the direction of movement of the trajectory point is within the second angle range, then the trajectory point is determined to be a valid trajectory point of the point of interest.

[0203] In this context, the origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

[0204] The second angle range can be flexibly set according to the actual situation, but it is necessary to ensure that for the trajectory point located on the first ray, when the angle between the direction of the point of interest and the direction of movement of the trajectory point is clockwise and the direction of movement of the trajectory point is within the second angle range, the point of interest is located within the field of view of the trajectory point.

[0205] In one possible implementation, the second angle range refers to the angle range between the third and fourth angles, where the third angle is less than the fourth angle, the third angle is greater than 90 degrees, and the fourth angle is less than 270 degrees.

[0206] Optionally, the orientation angle of the trajectory point is determined. The orientation angle of the trajectory point refers to the angle between rotating clockwise from due north to the direction of movement of the trajectory point. When the trajectory point is located on the first ray, if the orientation angle of the trajectory point is not less than the difference between the orientation angle of the point of interest and the third angle, and not greater than the difference between the orientation angle of the point of interest and the fourth angle, then it is determined that if the angle between rotating clockwise from the orientation of the point of interest and the direction of movement of the trajectory point falls within the range of the second angle, that is, the trajectory point is a valid trajectory point of the point of interest.

[0207] For example, the third angle is equal to 90 degrees, the fourth angle is equal to 270 degrees, the orientation angle of the point of interest is θ, and the orientation angle of the trajectory point is δ. When δ∈(θ-π / 2,θ-3π / 2), the angle between the clockwise rotation from the orientation of the point of interest to the movement direction of the trajectory point is determined to be within the range of the second angle.

[0208] In one embodiment, when a Cartesian coordinate system is established, the various determination methods in the above steps can be combined with each other. The orientation angle of the point of interest is θ, the Cartesian coordinates of the trajectory point are (xi, yi), and the azimuth angle of the trajectory point is... If the orientation angle of the trajectory point is δ, then after selecting multiple trajectory points whose distance from the point of interest is no greater than a preset distance, the process of determining the valid trajectory point among the multiple trajectory points is as follows.

[0209] Step 1: Determine the area where the trajectory point is located, which can be divided into the following three cases.

[0210] (1) The coordinates of the trajectory point are (xi, 0), xi > 0. At this time, the azimuth angle of the trajectory point... That is, the trajectory point is located on the positive half of the horizontal axis.

[0211] When θ∈(0,π / 2), the first ray points to the first quadrant, thus determining that the trajectory point is located in the visible area on the right.

[0212] When θ∈(π / 2,π), the first ray points to the fourth quadrant, thus determining that the trajectory point is located in the left visible area.

[0213] When θ = π / 2, the first ray coincides with the positive half-axis of the horizontal axis, thus determining that the trajectory point lies on the first ray.

[0214] In other cases, the trajectory point is neither located in the visible area nor on the first ray.

[0215] (2) The coordinates of the trajectory point are (xi, 0), xi < 0. At this time, the azimuth angle of the trajectory point... That is, the trajectory point is located on the negative half of the horizontal axis.

[0216] When θ∈(π,3π / 2), the first ray points to the third quadrant, thus determining that the trajectory point is located in the visible area on the right.

[0217] When θ∈(3π / 2,2π), the first ray points to the second quadrant, thus determining that the trajectory point is located in the left visible area.

[0218] When θ = 3π / 2, the first ray coincides with the negative half-axis of the horizontal axis, thus determining that the trajectory point is located on the first ray.

[0219] In other cases, the trajectory point is neither located in the visible area nor on the first ray.

[0220] (3) At that time, determine the azimuth of the trajectory point. Among them, the azimuth of the trajectory point It can be determined according to the above formula (1).

[0221] when If so, the trajectory point is determined to be located in the visible area on the left.

[0222] when If so, the trajectory point is determined to be located in the visible area on the right.

[0223] when When the time is right, the trajectory point lies on the first ray.

[0224] In other cases, the trajectory point is neither located in the visible area nor on the first ray.

[0225] Step 2: Determine the valid trajectory points, which can be divided into the following three cases.

[0226] (1) When the trajectory point is in the visible area on the left, the trajectory point with δ∈(θ,θ+π) is determined to be a valid trajectory point, and the rest of the trajectory points are invalid trajectory points.

[0227] (2) When the trajectory point is in the visible area on the right, the trajectory point with δ∈(θ-π,θ) is determined to be a valid trajectory point, and the rest of the trajectory points are invalid trajectory points.

[0228] (3) When the trajectory point is located on the first ray, the trajectory point with δ∈(θ-π / 2,θ-3π / 2) is determined to be a valid trajectory point, and the rest of the trajectory points are invalid trajectory points.

[0229] 406. If there is at least one valid trajectory point in the trajectory data, the trajectory data is retained; if there is no valid trajectory point in the trajectory data, the trajectory data is filtered.

[0230] In this implementation, if valid trajectory points exist in the trajectory data, the trajectory data is retained; that is, the environmental image in this set of trajectory data is used to identify the point of interest. If no valid trajectory points exist in the trajectory data, this set of trajectory data is filtered; that is, the environmental image in this set of trajectory data is not used to identify the point of interest. This helps reduce the processing burden of identifying points of interest and avoids invalid data consuming computing resources.

[0231] It should be noted that the embodiments in this application only illustrate the example of retaining or filtering the entire set of trajectory data. In another embodiment, the processing can also be done on a per-trajectory-point basis, retaining only the environmental images of valid trajectory points and filtering out the environmental images of invalid trajectory points. That is, only the environmental images of valid trajectory points are used to identify the point of interest, and the environmental images of invalid trajectory points are not used to identify the point of interest.

[0232] The method provided in this application, since the position and movement direction of a trajectory point affect the viewing angle range for shooting at that trajectory point, filters valid trajectory points based on the relative position of the trajectory point and the point of interest, as well as the angle between the movement direction of the trajectory point and the orientation of the point of interest. This ensures that when shooting environmental images from the filtered valid trajectory points, the point of interest is within the shooting viewing angle range, so that the point of interest can be identified in the environmental image corresponding to the valid trajectory point. Therefore, this application can filter out valuable trajectory points and eliminate invalid data, which helps save time spent on subsequent point of interest identification and improves processing efficiency.

[0233] Figure 10 This is a flowchart of another trajectory processing method provided in the embodiments of this application, such as... Figure 10 As shown, the method includes the following steps.

[0234] 1. Obtain point of interest information and trajectory data.

[0235] 2. Determine if orientation information for points of interest is missing. If orientation information is missing, no processing of the trajectory data is required; the entire trajectory data set is retained, meaning the environmental image within the entire trajectory data set is used directly to identify the points of interest. If orientation information for points of interest is not missing, proceed with the following steps.

[0236] 3. Based on the orientation of the point of interest and the position and direction of the trajectory points in the trajectory data, find the trajectory points that are visible to the point of interest, that is, the trajectory points located in the left visible area, the right visible area, and those whose orientation coincides with that of the point of interest. The trajectory point whose orientation coincides with that of the point of interest means that the trajectory point is located on the first ray.

[0237] 4. Determine the valid trajectory points based on the area where the trajectory points are located, the direction of movement of the trajectory points, and the orientation of the points of interest.

[0238] 5. If there are valid trajectory points in the trajectory data, the trajectory data is retained; if there are no valid trajectory points in the trajectory data, the trajectory data is filtered.

[0239] In related technologies, filtering of reverse trajectories is achieved by determining whether the entire trajectory line belongs to a reverse trajectory line. However, in practical applications, trajectory lines not only intersect horizontally and vertically but also exist in oblique or curved scenarios, resulting in low accuracy in trajectory line filtering. Moreover, related technologies classify all trajectories outside the visible range as reverse trajectories without considering the relativity between the trajectory line and the point of interest, leading to significant errors in the trajectory line filtering results.

[0240] This application provides a method for filtering invalid trajectories based on the orientation of points of interest. This method filters trajectories where the points of interest can be observed based on their relative positions and directions with the trajectories. Since the retained trajectory data are all valid trajectory data—that is, trajectory data where the points of interest can be identified—identifying points of interest based on valid trajectory data improves the efficiency of identifying the state information of the points of interest.

[0241] Verification has shown that the trajectory processing method provided in this application can significantly reduce the time required to identify points of interest from trajectory data, reduce ineffective input, and improve processing efficiency. Statistics show that approximately 40% of invalid trajectory data is filtered out, and the number of trajectories required to identify a single point of interest is reduced from 4.7 to 2.8, resulting in a 15% improvement in processing efficiency.

[0242] Figure 11 This is a schematic diagram of the structure of a trajectory processing device provided in an embodiment of this application. See also... Figure 11 The device includes:

[0243] The first determining module 1101 is used to determine the point of interest and multiple trajectory points, where each trajectory point refers to the location point when the environmental image is captured during the movement.

[0244] The second determining module 1102 is used to determine that the trajectory point is a valid trajectory point of the interest point if the angle between the direction of the interest point and the direction of movement of the trajectory point is within the first angle range when the trajectory point is located in the left region of the interest point. The left region refers to the area covered by the left side of the first straight line when the direction of the interest point is taken as the reference. The first straight line is the straight line where the direction of the interest point is located.

[0245] The second determining module 1102 is further configured to determine that the trajectory point is a valid trajectory point of the interest point if the angle between the direction of the interest point and the direction of movement of the trajectory point is within the first angle range when the trajectory point is located in the right region of the interest point. The right region refers to the area covered by the right side of the first straight line when the direction of the interest point is taken as the reference.

[0246] Among them, the environmental image corresponding to the valid trajectory point is used to identify points of interest.

[0247] The trajectory processing apparatus provided in this application, since the position and movement direction of trajectory points affect the viewing angle range for shooting at the trajectory points, filters valid trajectory points based on the relative position of the trajectory point and the point of interest, as well as the angle between the movement direction of the trajectory point and the orientation of the point of interest. This ensures that when shooting environmental images from the filtered valid trajectory points, the point of interest is within the shooting viewing angle range, so that the point of interest can be identified in the environmental image corresponding to the valid trajectory point. Therefore, this application can filter out valuable trajectory points and eliminate invalid data, which helps save time spent on subsequent point of interest identification and improves processing efficiency.

[0248] Optionally, the first angle range refers to the angle range between the first angle and the second angle, wherein the first angle is less than the second angle, the first angle is not less than 0 degrees, and the second angle is not greater than 180 degrees.

[0249] Optionally, the second determining module 1102 is further configured to:

[0250] If the trajectory point is located on the first ray, and the angle between the direction of the point of interest and the direction of movement of the trajectory point is within the range of the second angle, then the trajectory point is determined to be a valid trajectory point of the point of interest.

[0251] In this context, the origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

[0252] Optionally, the second angle range refers to the angle range between the third angle and the fourth angle, where the third angle is less than the fourth angle, the third angle is not less than 110 degrees, and the fourth angle is not greater than 270 degrees.

[0253] Optionally, the first determining module 1101 is used for:

[0254] Identify points of interest and multiple candidate trajectory points;

[0255] Among multiple candidate trajectory points, select multiple trajectory points that meet the location conditions.

[0256] Optionally, the location conditions include at least one of the following:

[0257] The distance between the trajectory point and the point of interest is no greater than the preset distance;

[0258] The trajectory point is located in the visible area, which is the area between the second ray and the third ray. The origin of the second ray is the point of interest, and the direction of the second ray is the direction after rotating the direction of the point of interest counterclockwise by five angles. The origin of the third ray is the point of interest, and the direction of the third ray is the direction after rotating the direction of the point of interest clockwise by five angles.

[0259] Optionally, see Figure 12 The device also includes a third determining module 1103, used for:

[0260] Determine the orientation angle of the point of interest and the azimuth angle of the trajectory point. The orientation angle of the point of interest is the angle between the direction from due north to the direction of the point of interest. The azimuth angle of the trajectory point is the angle between the direction from due north to the position direction of the trajectory point. The position direction of the trajectory point is the direction from the point of interest to the trajectory point.

[0261] If the azimuth of the trajectory point is greater than the difference between the orientation angle and the fifth angle of the point of interest, and less than the sum of the orientation angle and the fifth angle of the point of interest, then the trajectory point is determined to be located in the visible area.

[0262] Optionally, see Figure 12 The third determining module 1103 is used for:

[0263] If the azimuth of the trajectory point is greater than the difference between the orientation angle of the point of interest and the fifth angle, but less than the orientation angle of the point of interest, then the trajectory point is determined to be located in the left visible area. The left visible area refers to the visible area within the area to the left of the point of interest.

[0264] If the azimuth angle of the trajectory point is greater than the orientation angle of the point of interest, and less than the sum of the orientation angle of the point of interest and the fifth angle, then the trajectory point is determined to be located in the right visible area. The right visible area refers to the visible area within the area to the right of the point of interest.

[0265] Optionally, see Figure 12 The device also includes a third determining module 1103, used for:

[0266] Create a rectangular coordinate system with the point of interest as the origin. The horizontal axis of the rectangular coordinate system is due east, and the vertical axis is due north.

[0267] Convert the latitude and longitude coordinates of the trajectory points to rectangular coordinates in a rectangular coordinate system;

[0268] If the first ray coincides with any half-axis of the Cartesian coordinate system, and the Cartesian coordinates of the trajectory point are located in the quadrant adjacent to the half-axis, then the trajectory point is determined to be located in the visible area. The origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

[0269] Optionally, see Figure 12 The device also includes a third determining module 1103, used for:

[0270] Create a rectangular coordinate system with the point of interest as the origin. The horizontal axis of the rectangular coordinate system is due east, and the vertical axis is due north.

[0271] Convert the latitude and longitude coordinates of the trajectory points to rectangular coordinates in a rectangular coordinate system;

[0272] If the rectangular coordinates of the trajectory point are located on any half axis of the rectangular coordinate system, and the first ray points to the quadrant adjacent to the half axis, then the trajectory point is determined to be located in the visible area, the origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

[0273] Optionally, see Figure 12 Multiple trajectory points belong to the same set of trajectory data, which includes trajectory point information of each trajectory point passed during the movement and environmental images captured at each trajectory point; the device also includes a data filtering module 1104, used for:

[0274] If there is at least one valid trajectory point in the trajectory data, the trajectory data is retained;

[0275] If no valid trajectory points are found in the trajectory data, the trajectory data will be filtered.

[0276] It should be noted that the trajectory processing device provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device can be divided into different functional modules to complete all or part of the functions described above. In addition, the trajectory processing device and the trajectory processing method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0277] This application also provides a computer device, which includes a processor and a memory. The memory stores at least one computer program, which is loaded and executed by the processor to perform the operations performed in the trajectory processing method of the above embodiments.

[0278] Optionally, the computer device is provided as a terminal. Figure 13 A schematic diagram of the structure of a terminal 1300 provided in an exemplary embodiment of this application is shown.

[0279] Terminal 1300 includes a processor 1301 and a memory 1302.

[0280] Processor 1301 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1301 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1301 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1301 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 1301 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0281] The memory 1302 may include one or more computer-readable storage media, which may be non-transitory. The memory 1302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1302 are used to store at least one computer program, which is used by the processor 1301 to implement the trajectory processing method provided in the method embodiments of this application.

[0282] In some embodiments, the terminal 1300 may also optionally include: a peripheral device interface 1303 and at least one peripheral device. The processor 1301, memory 1302, and peripheral device interface 1303 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 1303 via a bus, signal line, or circuit board. Optionally, the peripheral device includes at least one of: a radio frequency circuit 1304, a display screen 1305, a camera assembly 1306, an audio circuit 1307, and a power supply 1308.

[0283] Peripheral device interface 1303 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 1301 and memory 1302. In some embodiments, processor 1301, memory 1302 and peripheral device interface 1303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 1301, memory 1302 and peripheral device interface 1303 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0284] The radio frequency (RF) circuit 1304 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 1304 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 1304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 1304 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 1304 can communicate with other devices through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: metropolitan area networks (MANs), various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks (WLANs), and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 1304 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0285] Display screen 1305 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 1305 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 1301 for processing. In this case, display screen 1305 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 1305, disposed on the front panel of terminal 1300; in other embodiments, there may be at least two display screens, disposed on different surfaces of terminal 1300 or in a folded design; in still other embodiments, display screen 1305 may be a flexible display screen, disposed on a curved or folded surface of terminal 1300. Furthermore, display screen 1305 may be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. The display screen 1305 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0286] The camera assembly 1306 is used to acquire images or videos. Optionally, the camera assembly 1306 includes a front-facing camera and a rear-facing camera. The front-facing camera is disposed on the front panel of the terminal 1300, and the rear-facing camera is disposed on the back of the terminal 1300. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 1306 may also include a flash. The flash may be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cool light flash, which can be used for light compensation at different color temperatures.

[0287] The audio circuit 1307 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 1301 for processing, or input to the radio frequency circuit 1304 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each located at a different part of the terminal 1300. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 1301 or the radio frequency circuit 1304 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 1307 may also include a headphone jack.

[0288] Power supply 1308 is used to power the various components in terminal 1300. Power supply 1308 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 1308 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0289] Those skilled in the art will understand that Figure 13 The structure shown does not constitute a limitation on terminal 1300 and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0290] Optionally, the computer device is provided as a server. Figure 14 This is a schematic diagram of a server structure provided in an embodiment of this application. The server 1400 can vary significantly due to different configurations or performance. It may include one or more Central Processing Units (CPUs) 1401 and one or more memories 1402. The memories 1402 store at least one computer program, which is loaded and executed by the processor 1401 to implement the methods provided in the various method embodiments described above. Of course, the server may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The server may also include other components for implementing device functions, which will not be elaborated upon here.

[0291] This application also provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to implement the operations performed by the trajectory processing method of the above embodiments.

[0292] This application also provides a computer program product, including a computer program loaded and executed by a processor to perform the operations performed by the trajectory processing method of the above embodiments.

[0293] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0294] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present application should be included within the protection scope of the present application.

Claims

1. A trajectory processing method, characterized in that, The method includes: Identify points of interest and multiple trajectory points, where each trajectory point refers to the location point where the environmental image was captured during the movement; If the trajectory point is located in the left region of the point of interest, and the angle between the clockwise rotation from the orientation of the point of interest to the direction of movement of the trajectory point is within the first angle range, then the trajectory point is determined to be a valid trajectory point of the point of interest. The left region refers to the region covered by the left side of the first straight line when the orientation of the point of interest is taken as the reference. The first straight line is the straight line where the orientation of the point of interest is located. If the trajectory point is located in the right region of the point of interest, and the angle between the direction of the point of interest and the direction of movement of the trajectory point is within the first angle range, then the trajectory point is determined to be a valid trajectory point of the point of interest. The right region refers to the area covered by the right side of the first straight line when the direction of the point of interest is taken as the reference. The environmental image corresponding to the valid trajectory point is used to identify the point of interest.

2. The method according to claim 1, characterized in that, The first angle range refers to the angle range between the first angle and the second angle, wherein the first angle is less than the second angle, the first angle is not less than 0 degrees, and the second angle is not greater than 180 degrees.

3. The method according to claim 1, characterized in that, The method further includes: If the trajectory point is located on the first ray, and the angle between the direction of the point of interest and the direction of movement of the trajectory point is within the second angle range, then the trajectory point is determined to be a valid trajectory point of the point of interest. Wherein, the origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

4. The method according to claim 3, characterized in that, The second angle range refers to the angle range between the third angle and the fourth angle, wherein the third angle is less than the fourth angle, the third angle is not less than 90 degrees, and the fourth angle is not greater than 270 degrees.

5. The method according to claim 1, characterized in that, The determination of the point of interest and multiple trajectory points includes: Determine the point of interest and multiple candidate trajectory points; Among the multiple candidate trajectory points, the multiple trajectory points that meet the location conditions are selected.

6. The method according to claim 5, characterized in that, The location conditions include at least one of the following: The distance between the trajectory point and the point of interest is no greater than a preset distance; The trajectory point is located in the visible area, which is the area between the second ray and the third ray. The origin of the second ray is the point of interest, and the direction of the second ray is the direction after rotating the orientation of the point of interest counterclockwise by a fifth angle. The origin of the third ray is the point of interest, and the direction of the third ray is the direction after rotating the orientation of the point of interest clockwise by the fifth angle.

7. The method according to claim 6, characterized in that, The method further includes: Determine the orientation angle of the point of interest and the azimuth angle of the trajectory point. The orientation angle of the point of interest is the angle between the direction from due north to the orientation of the point of interest, and the azimuth angle of the trajectory point is the angle between the direction from due north to the position direction of the trajectory point. The position direction of the trajectory point is the direction from the point of interest to the trajectory point. If the azimuth angle of the trajectory point is greater than the difference between the orientation angle of the point of interest and the fifth angle, and less than the sum of the orientation angle of the point of interest and the fifth angle, then the trajectory point is determined to be located in the visible area.

8. The method according to claim 7, characterized in that, If the azimuth angle of the trajectory point is greater than the difference between the orientation angle of the point of interest and the fifth angle, and less than the sum of the orientation angle of the point of interest and the fifth angle, then determining that the trajectory point is located in the visible area includes: If the azimuth angle of the trajectory point is greater than the difference between the orientation angle of the point of interest and the fifth angle, and less than the orientation angle of the point of interest, then the trajectory point is determined to be located in the left visible area, where the left visible area refers to the visible area within the left region of the point of interest. If the azimuth angle of the trajectory point is greater than the orientation angle of the point of interest, and less than the sum of the orientation angle of the point of interest and the fifth angle, then the trajectory point is determined to be located in the right visible area, where the right visible area refers to the visible area within the right region of the point of interest.

9. The method according to claim 6, characterized in that, The fifth angle is equal to 90 degrees; the method further includes: A rectangular coordinate system is created with the point of interest as the origin, where the horizontal axis of the rectangular coordinate system is due east and the vertical axis is due north. Convert the latitude and longitude coordinates of the trajectory points into rectangular coordinates in the rectangular coordinate system; If the first ray coincides with any half-axis of the coordinate system of the rectangular coordinate system, and the rectangular coordinate of the trajectory point is located in the quadrant adjacent to the half-axis, then the trajectory point is determined to be located in the visible area, the origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

10. The method according to claim 6, characterized in that, The fifth angle is equal to 90 degrees; the method further includes: A rectangular coordinate system is created with the point of interest as the origin, where the horizontal axis of the rectangular coordinate system is due east and the vertical axis is due north. Convert the latitude and longitude coordinates of the trajectory points into rectangular coordinates in the rectangular coordinate system; If the rectangular coordinates of the trajectory point are located on any half axis of the coordinate system, and the first ray points to the quadrant adjacent to the half axis, then the trajectory point is determined to be located in the visible area, the origin of the first ray is the point of interest, and the direction of the first ray is the orientation of the point of interest.

11. The method according to claim 1, characterized in that, The multiple trajectory points belong to the same set of trajectory data, which includes trajectory point information of each trajectory point passed during the movement and environmental images captured at each trajectory point; the method further includes: If at least one of the valid trajectory points exists in the trajectory data, then the trajectory data is retained; If no valid trajectory point exists in the trajectory data, then the trajectory data is filtered.

12. A trajectory processing device, characterized in that, The device includes: The first determining module is used to determine points of interest and multiple trajectory points, wherein each trajectory point refers to the location point when the environmental image is captured during the movement. The second determining module is used to determine that the trajectory point is a valid trajectory point of the interest point if the angle between the direction of the interest point and the direction of movement of the trajectory point is within a first angle range when the trajectory point is located in the left region of the interest point. The left region refers to the region covered by the left side of the first straight line when the direction of the interest point is taken as the reference. The first straight line is the straight line where the direction of the interest point is located. The second determining module is further configured to, when the trajectory point is located in the right region of the point of interest, determine that the trajectory point is a valid trajectory point of the point of interest if the angle between the direction of the point of interest and the direction of movement of the trajectory point is within the first angle range. The right region refers to the area covered by the right side of the first straight line when the direction of the point of interest is taken as the reference. The environmental image corresponding to the valid trajectory point is used to identify the point of interest.

13. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one computer program, which is loaded and executed by the processor to perform the operations of the trajectory processing method as described in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to perform the operations of the trajectory processing method as described in any one of claims 1 to 11.

15. A computer program product, comprising a computer program, characterized in that, The computer program is loaded and executed by a processor to perform the operations performed by the trajectory processing method as described in any one of claims 1 to 11.

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