A positioning method, apparatus, system, electronic device, and storage medium

Abstract

Embodiments of the present application provide a positioning method, device, system, electronic equipment and storage medium, and relate to the technical field of positioning. The method comprises: acquiring images synchronously collected by each image collection device arranged in the same positioning place, wherein there is a locatable area in the collection field of view of each image collection device; determining a target image comprising the same positioning object in the acquired images; determining a locatable area corresponding to a target image collection device collecting the target image; and obtaining a positioning result of the positioning object based on the determined locatable area. In the positioning, firstly, it can be determined which image collection devices simultaneously collect the images of the positioning object, and then the positioning result of the positioning object can be determined according to the preset locatable area in the collection field of view of these image collection devices. In this process, the user does not need to perform interactive operations such as photographing and uploading, and can achieve non-sensing positioning only by being in the collection field of view of the image collection device, thereby reducing the complexity of positioning.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a positioning method, apparatus, system, electronic device and storage medium. Background Technology

[0002] In indoor settings, user location tracking is crucial for effective guidance. For example, in convenience stores, user location can guide them to the desired product; in hospitals, it can guide them to the appropriate department.

[0003] Existing indoor positioning methods involve first constructing a priori map of the indoor environment using camera equipment and storing it in the positioning device. When a user wants to determine their location, they need to use a mobile device such as a smartphone to capture an image of their location and send it to the positioning device. The positioning device extracts feature points from the image and matches these extracted feature points with feature points in the stored priori map to pinpoint the user's location.

[0004] However, for the above-mentioned indoor positioning methods, the positioning process requires a lot of cooperation from the person being located (such as taking photos and sending images) to complete the positioning, making the positioning process rather cumbersome. Summary of the Invention

[0005] The purpose of this application is to provide a positioning method, apparatus, system, electronic device, and storage medium to reduce the complexity of positioning. The specific technical solution is as follows:

[0006] In a first aspect, embodiments of this application provide a positioning method, the method comprising:

[0007] Acquire images synchronously acquired by various image acquisition devices deployed in the same location, wherein there is a locatable area in the field of view of each image acquisition device;

[0008] Identify the target image among the acquired images that contains the same located object;

[0009] Determine the locatable area corresponding to the target image acquisition device, wherein the target image acquisition device is a device for acquiring the target image;

[0010] Based on the determined locatable area, the location result of the object is obtained.

[0011] Optionally, when the number of target image acquisition devices is greater than one, obtaining the positioning result of the object based on the determined locatable area includes:

[0012] Among the locatable areas corresponding to multiple target image acquisition devices, the same locatable area is determined as the location result of the locating object.

[0013] Optionally, when the number of target image acquisition devices is equal to 1, obtaining the positioning result of the positioning object based on the determined locatable area includes:

[0014] Determine whether the number of independent locatable regions in the locatable region corresponding to the target image acquisition device is greater than 1, wherein the independent locatable region is: a locatable region that is only associated with the target image acquisition device;

[0015] If the value is equal to 1, the independent locatable region is taken as the location result of the location object;

[0016] If the value is greater than 1, among the multiple preset image regions in the target image, the target image region to which the location of the object in the target image belongs is determined. In the correspondence between image regions and independent locatable regions, the target independent locatable region corresponding to the target image region is determined as the location result of the object.

[0017] Optionally, the locatable area within the field of view of each image acquisition device can be determined as follows:

[0018] In the layout diagram of the location, the target area corresponding to the field of view of each image acquisition device is determined respectively;

[0019] For each image acquisition device, in the target area corresponding to the image acquisition device, the part of the area that overlaps with the target areas corresponding to other image acquisition devices is divided into an overlapping locatable area, and the part of the area that does not overlap with the target areas corresponding to other image acquisition devices is divided into an independent locatable area. The overlapping locatable area and the independent locatable area are determined as the locatable area in the acquisition field of view of the image acquisition device.

[0020] Optionally, for each image acquisition device, the correspondence between the image area corresponding to that image acquisition device and the independently locatable area is determined in the following manner:

[0021] For each independent locatable region, the image region of that independent locatable region in the image acquired by the image acquisition device is determined, and the correspondence between the independent locatable region and the image region is established.

[0022] Secondly, embodiments of this application provide a positioning device, the device comprising:

[0023] The image acquisition module is used to acquire images synchronously acquired by each image acquisition device deployed in the same location, wherein there is a locatable area in the field of view of each image acquisition device;

[0024] The image determination module is used to determine the target image that includes the same located object in the acquired image;

[0025] The region determination module is used to determine the locatable region corresponding to the target image acquisition device, wherein the target image acquisition device is a device for acquiring the target image;

[0026] The positioning module is used to obtain the positioning result of the positioning object based on the determined positioning area.

[0027] Optionally, the positioning module is specifically used to: when the number of target image acquisition devices is greater than 1, determine the same locatable area among the locatable areas corresponding to the multiple target image acquisition devices, and use it as the positioning result of the positioning object.

[0028] Optionally, the positioning module is specifically configured to: when the number of target image acquisition devices is equal to 1, determine whether the number of independent locatable regions in the locatable region corresponding to the target image acquisition device is greater than 1, wherein the independent locatable region is: a locatable region that corresponds only to the target image acquisition device; if it is equal to 1, use the independent locatable region as the positioning result of the positioning object; if it is greater than 1, determine the target image region to which the position of the positioning object in the target image belongs among multiple preset image regions in the target image, and determine the target independent locatable region corresponding to the target image region in the correspondence between image regions and independent locatable regions, and use it as the positioning result of the positioning object.

[0029] Optionally, the locatable area in the field of view of each image acquisition device is determined in the following manner: in the layout diagram of the positioning location, the target area corresponding to the field of view of each image acquisition device is determined respectively; for each image acquisition device, in the target area corresponding to the image acquisition device, the part of the area that overlaps with the target area corresponding to other image acquisition devices is divided into an overlapping locatable area, and the part of the area that does not overlap with the target area corresponding to other image acquisition devices is divided into an independent locatable area, and the overlapping locatable area and the independent locatable area are determined as the locatable area in the field of view of the image acquisition device.

[0030] Optionally, for each image acquisition device, the correspondence between the image area corresponding to the image acquisition device and the independent locatable area is determined in the following way: for each independent locatable area, the image area of ​​the independent locatable area in the image acquired by the image acquisition device is determined, and the correspondence between the independent locatable area and the image area is established.

[0031] Thirdly, embodiments of this application provide a positioning system, the system comprising: image acquisition devices deployed in the same positioning location and electronic devices communicatively connected to the image acquisition devices;

[0032] Each image acquisition device is used to acquire images of the location and send the acquired images to the electronic device through a communication connection with the electronic device.

[0033] The electronic device is configured to perform any of the positioning methods described in the first aspect above, based on the received image.

[0034] Fourthly, embodiments of this application provide an electronic device, including:

[0035] Memory, used to store computer programs;

[0036] When a processor executes a program stored in memory, it implements any of the methods described in the first aspect above.

[0037] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the methods described in the first aspect above.

[0038] Beneficial effects of the embodiments in this application:

[0039] In the solution provided in this application embodiment, an electronic device can acquire images synchronously acquired by various image acquisition devices deployed in the same positioning location, wherein each image acquisition device has a locatable area within its field of view; determine that the acquired images include target images of the same positioning object; determine the locatable area corresponding to the target image acquisition device, wherein the target image acquisition device is: a device that acquires the target image; and obtain the positioning result of the positioning object based on the determined locatable area. In the solution provided in this application embodiment, for a positioning object located in a positioning location, the electronic device can analyze the images synchronously acquired by various image acquisition devices to determine which image acquisition devices simultaneously acquired images of the positioning object (i.e., determine the target image acquisition device), and then determine the positioning result of the positioning object based on the preset locatable area within the field of view of the target image acquisition device. This process is completed by the cooperation of the electronic device and the image acquisition devices deployed in the positioning location. Users do not need to perform interactive operations such as taking pictures or uploading; they only need to be within the field of view of the image acquisition device to achieve seamless positioning, reducing the complexity of positioning and improving the user experience.

[0040] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0042] Figure 1 A schematic flowchart of the positioning method provided in an embodiment of this application;

[0043] Figure 2 Based on Figure 1 A flowchart illustrating a method for determining a locatable region in the embodiment shown.

[0044] Figure 3 Based on Figure 2 A schematic diagram of the layout of the embodiment shown;

[0045] Figure 4 Based on Figure 3 A schematic diagram of the target area in the illustrated embodiment;

[0046] Figure 5 Based on Figure 4 A schematic diagram of a locatable area in the embodiment shown;

[0047] Figure 6Based on Figure 5 A specific schematic diagram of the locatable area in the illustrated embodiment;

[0048] Figure 7 Based on Figure 2 A schematic diagram of the image region in the illustrated embodiment;

[0049] Figure 8 Based on Figure 1 A flowchart illustrating a method for determining positioning results in the embodiment shown;

[0050] Figure 9 Based on Figure 8 A schematic diagram of a method for determining the positioning result in the illustrated embodiment;

[0051] Figure 10 Based on Figure 1 A schematic diagram of a specific process of the positioning method in the embodiment shown;

[0052] Figure 11 Based on Figure 10 A schematic diagram of the positioning results in the illustrated embodiment;

[0053] Figure 12 A schematic diagram of the positioning device provided in an embodiment of this application;

[0054] Figure 13 A schematic diagram of the positioning system provided in an embodiment of this application;

[0055] Figure 14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0057] It should be noted that in the technical solution of this application, the acquisition, storage, use, processing, transmission, provision and disclosure of user images involved in locating users are all carried out with the user's authorization.

[0058] To reduce the complexity of location tracking, this application provides a location tracking method, apparatus, system, electronic device, computer-readable storage medium, and computer program product. The following describes a location tracking method provided by an embodiment of this application.

[0059] The positioning method provided in this application can be applied to electronic devices that are communicatively connected to various image acquisition devices in the positioning location. For example, it can be a mobile phone, computer, server, etc., which are not specifically limited here. For clarity, it will be referred to as an electronic device below.

[0060] like Figure 1 As shown, a positioning method includes:

[0061] S101, acquire images synchronously acquired by various image acquisition devices deployed in the same location.

[0062] Each image acquisition device has a locatable area within its field of view.

[0063] S102, determine that the acquired image contains a target image with the same positioning object.

[0064] S103, Determine the locatable area corresponding to the target image acquisition device.

[0065] Among them, the target image acquisition device is: a device for acquiring target images.

[0066] S104, Based on the determined locatable area, obtain the location result of the object.

[0067] In the solution provided in this application embodiment, for a location object in a positioning location, the electronic device can analyze the images synchronously acquired by various image acquisition devices to determine which image acquisition devices simultaneously acquired images of the location object, i.e., determine the target image acquisition device. Then, based on a preset locatable area within the field of view of the target image acquisition device, the positioning result of the location object can be determined. This process is completed by the cooperation of the electronic device and the image acquisition devices deployed in the positioning location. Users do not need to perform interactive operations such as taking photos or uploading; they only need to be within the field of view of the image acquisition device to achieve seamless positioning, reducing the complexity of positioning and improving the user experience.

[0068] For each image acquisition device deployed in the same location, a positioning area can be obtained within its field of view according to a preset area division rule (e.g., dividing the overlapping and non-overlapping fields of view of each image acquisition device into different areas), thus obtaining the positioning area corresponding to that image acquisition device. The specific method for dividing the positioning area will be discussed later. Figures 2-7 The examples are described in detail and will not be repeated here.

[0069] Based on this, electronic devices can acquire images synchronously acquired by various image acquisition devices deployed in the same location. It should be noted that the above-mentioned "synchronous acquisition" does not require that the acquisition time of each image be exactly the same; it only requires that the difference between the acquisition times of each image be less than a preset threshold (e.g., 0.2s).

[0070] For "acquiring images synchronously acquired by various image acquisition devices", electronic devices can achieve this through, but are not limited to, the following methods:

[0071] In one implementation, the electronic device can acquire images synchronously acquired by each image acquisition device at preset time intervals, thereby identifying and locating the target in the location in real time and avoiding "missed" location.

[0072] In another implementation, if an object counting device is installed in the location (e.g., by using sensors or cameras installed at the entrances and exits of the location to count the number of people in the location), the electronic device can acquire the statistical results of the device in real time. Then, when the statistical results indicate that there are more than 0 objects in the location, the electronic device can acquire images synchronously acquired by each image acquisition device. Thus, when there are no objects in the location, there is no need to acquire images acquired by each image acquisition device, saving bandwidth resources and computing resources of the electronic device.

[0073] After acquiring images synchronously captured by various image acquisition devices, electronic devices can determine that the acquired images include target images of the same located object. Specifically:

[0074] For the acquired images, the electronic device can first identify whether each image contains a target object. Then, for images that do contain a target object, the electronic device can further calculate the similarity between the target objects in each image to compare whether the target objects in each image are the same. Finally, the electronic device can identify images containing the same target object as belonging to the same batch of target images.

[0075] For example, if the images acquired by the electronic device are images 1-10, the electronic device can first identify whether images 1-10 contain the target object. Assuming that images 1, 3, 6, and 7 contain the target object, the electronic device can further calculate the similarity between the target objects in images 1, 3, 6, and 7. If the similarity between the target objects in images 1 and 6 is greater than a preset similarity threshold, and the similarity between the target objects in images 3 and 7 is also greater than a preset similarity threshold, then the electronic device can identify images 1 and 6 as the first target images, and images 3 and 7 as the second target images.

[0076] It should be noted that when the electronic device identifies multiple batches of target images, it can execute steps S103-S104 for each batch of target images to obtain the positioning results of the objects included in that batch of target images. Continuing the example above, for images 1 and 6, the electronic device can execute steps S103-S104 to determine the positioning results of the objects included in images 1 and 6. Similarly, for images 3 and 7, the electronic device can also execute steps S103-S104 to determine the positioning results of the objects included in images 3 and 7.

[0077] After determining the target image, the electronic device can first identify the image acquisition device used to acquire the target image, designating it as the target image acquisition device. Then, the electronic device can further determine the locatable region within the field of view of the target image acquisition device, designating it as the corresponding locatable region. Finally, if multiple target image acquisition devices are identified, the electronic device can use the shared locatable regions corresponding to these multiple target image acquisition devices as the positioning result of the target object. If only one target image acquisition device is identified, the electronic device can select a locatable region from the locatable regions corresponding to the target image acquisition device based on the position of the target object in the target image, using this as the positioning result of the target object. The specific method for obtaining the positioning result of the target object will be discussed later. Figures 8-9 The examples are described in detail and will not be repeated here.

[0078] In the solution provided in this application embodiment, for a location object in a positioning location, the electronic device can analyze the images synchronously acquired by various image acquisition devices to determine which image acquisition devices simultaneously acquired images of the location object, i.e., determine the target image acquisition device. Then, based on a preset locatable area within the field of view of the target image acquisition device, the positioning result of the location object can be determined. This process is completed by the cooperation of the electronic device and the image acquisition devices deployed in the positioning location. Users do not need to perform interactive operations such as taking photos or uploading; they only need to be within the field of view of the image acquisition device to achieve seamless positioning, reducing the complexity of positioning and improving the user experience.

[0079] This will be combined Figures 2-7 This paper will introduce the method for determining the locatable area in the embodiments of this application.

[0080] like Figure 2 As shown, the locatable area in the field of view of each image acquisition device can be determined according to the steps S201-S202:

[0081] S201, In the layout diagram of the positioning site, determine the target area corresponding to the field of view of each image acquisition device.

[0082] To facilitate the division of each locatable area, a layout map of the location can be obtained first. Then, based on the positions of each device in the location included in the layout map, areas where these devices are not placed can be identified as movable areas within the location. Next, for each image acquisition device, its position in the layout map can be determined based on its installation location in the location. Then, based on its installation angle, a movable area within its field of view (i.e., an area where the object being located can move) can be identified in the layout map as the target area corresponding to its field of view.

[0083] For example, the location is a convenience store. Figure 3 The layout diagram of the convenience store shown illustrates that the store includes equipment such as shelves, freezers, cash registers, beverage cabinets, and cigarette cabinets. Based on this, areas where these equipment are not placed can be identified in the layout diagram as movable areas within the convenience store.

[0084] Then, based on the installation location and angle of each image acquisition device deployed in the convenience store, the movable area within the field of view of each image acquisition device is further determined in the layout diagram, serving as the target area corresponding to the field of view of each image acquisition device. For example... Figure 4 As shown, for the image acquisition device 1-5 (hereinafter referred to as device 1-5) deployed in the convenience store, the target areas corresponding to the acquisition field of device 1-5 determined by the above method are target areas 1-5 in sequence. Among them, target area 4 has overlapping areas with target areas 1, 2, 3 and 5 respectively.

[0085] S202, for each image acquisition device, in the target area corresponding to the image acquisition device, the part of the area that overlaps with the target area corresponding to other image acquisition devices is divided into an overlapping locatable area, and the part of the area that does not overlap with the target area corresponding to other image acquisition devices is divided into an independent locatable area. The overlapping locatable area and the independent locatable area are determined as the locatable area in the acquisition field of view of the image acquisition device.

[0086] After obtaining the target area corresponding to each image acquisition device, for the target area corresponding to each image acquisition device, the target area can be divided into an overlapping locatable area (the part of the target area that overlaps with the target areas corresponding to other image acquisition devices) and an independent locatable area (the part of the target area that does not overlap with the target areas corresponding to other image acquisition devices) according to whether it overlaps with the target areas corresponding to other image acquisition devices. Then, both the overlapping locatable area and the independent locatable area corresponding to the image acquisition device are determined as the locatable area in the acquisition field of view of the image acquisition device.

[0087] For example, for Figure 4 Regarding the target areas corresponding to devices 2, 3, and 5: target area 2 corresponding to device 2 overlaps with target area 4 corresponding to device 4. Therefore, for target area 2, the portion overlapping with target area 4 can be classified as an overlapping locatable area, and the portion not overlapping with other target areas can be classified as an independent locatable area. Figure 5 The regions shown are c (overlapping locatable region) and g (independent locatable region). In other words, the locatable regions within the field of view of device 2 include regions c and g. Similarly, the locatable regions within the field of view of device 3 include regions b (overlapping locatable region) and f (independent locatable region); the locatable regions within the field of view of device 5 include regions a (overlapping locatable region) and e (independent locatable region).

[0088] for Figure 4 Regarding target area 1 corresponding to device 1: Since the overlapping area between target area 1 corresponding to device 1 and target area 4 corresponding to device 4 is located in the middle part of target area 1, the non-overlapping area in target area 1 is further divided into two parts. Therefore, as shown... Figure 5 As shown, the final target area 1 is divided into area d (overlapping locatable area), area m (independent locatable area) and area h (independent locatable area), that is, the locatable areas in the acquisition field of device 1 include: area d, area m and area h.

[0089] for Figure 4 Regarding the target area 4 corresponding to device 4 shown: the target area 4 corresponding to device 4 overlaps with the target areas corresponding to devices 1-3 and 5, such as... Figure 5 As shown, the final target area 4 is divided into area a (overlapping locatable area), area b (overlapping locatable area), area c (overlapping locatable area), area d (overlapping locatable area), area i (independent locatable area), area j (independent locatable area), area k (independent locatable area), and area l (independent locatable area). That is, the locatable areas in the field of view of device 4 include: area a, area b, area c, area d, area i, area j, area k, and area l.

[0090] After obtaining the locatable area within the field of view of each device, the correspondence between each device and the locatable area can be stored, resulting in the correspondence shown in the table below.

[0091] In one implementation, for a large, independently locatable area, to further refine the positioning results during subsequent positioning processes, the independently locatable area can be further divided into multiple smaller independently locatable areas. The specific method for further dividing the larger independently locatable area can be flexibly determined according to the actual usage scenario, and this application embodiment does not limit the specific method. For example, it can be first determined which area range among multiple preset area ranges the area of ​​the independently locatable area falls into, and then the independently locatable area can be divided equally according to the corresponding number of equal parts within that area range.

[0092] like Figure 5 As shown, regions e, f, g, and h are relatively large, so they can be further subdivided into regions e, f, g, and h respectively, resulting in... Figure 6 The regions shown are e1, e2, e3, f1, f2, f3, g1, g2, g3, g4, h1, h2, and h3. That is, the locatable regions within the field of view of device 1 include: region d, region m, h1, h2, and h3; the locatable regions within the field of view of device 2 include: region c, g1, g2, g3, and g4; the locatable regions within the field of view of device 3 include: region b, f1, f2, and f3; and the locatable regions within the field of view of device 5 include: region a, e1, e2, and e3.

[0093] In one implementation, for an independently locatable region, if the image acquisition device corresponds to only one independently locatable region, then the specific location result can be determined by which image acquisition devices acquired the location object (for example, when only device 5 acquired the location object, according to the correspondence shown in the aforementioned table, it can be determined that the location object is located in region e); if the image acquisition device corresponds to multiple independently locatable regions, then the specific location result cannot be determined by which image acquisition devices acquired the location object (for example, when only device 4 acquired the location object, according to the correspondence shown in the aforementioned table, the location object may be located in any one of region i, region j, region k, and region l).

[0094] Based on this, in order to accurately determine the location of the object, when the image acquisition device corresponds to multiple independent locatable regions, for each independent locatable region, the image area of ​​that independent locatable region in the image acquired by the image acquisition device can be determined, and a correspondence between the independent locatable region and the image area can be established. Thus, when the image acquisition device corresponds to multiple independent locatable regions, the location of the object can be further determined based on its position in the image.

[0095] For example, for device 4, for its corresponding regions i, j, k, and l, it is possible to... Figure 7 In the image acquired by the device 4 shown, regions i, j, k and l are respectively determined in their corresponding image regions to obtain image regions i', j', k' and l', and then the correspondence between regions i, j, k and l and image regions i', j', k' and l' is established.

[0096] It should be noted that the determination of the locatable area can be performed by an electronic device that executes the positioning method provided in the embodiments of this application, or by other devices, and the determined locatable area can be stored in the electronic device that executes the positioning method provided in the embodiments of this application.

[0097] In the solution provided in this application, the target area corresponding to each image acquisition device is determined, and the target area is further divided into overlapping locatable areas and independent locatable areas according to whether each target area overlaps with other target areas, thereby obtaining the locatable areas corresponding to each image acquisition device. In this way, based on the acquisition status of the object to be located by each image acquisition device and the locatable areas corresponding to each image acquisition device, the object can be located, greatly reducing the complexity of the location process and improving the user experience. Furthermore, when the locatable area is large, it can be further subdivided to improve the accuracy of the location. In addition, when there are multiple independent locatable areas, a correspondence between the independent locatable areas and the image area can be established, so that the location result of the object can be further determined based on its position in the image.

[0098] This will be combined Figures 8-9 This paper introduces the specific method for obtaining the positioning result of the positioning object based on the determined locatable area in the embodiments of this application.

[0099] like Figure 8As shown, when the electronic device performs step S104, it can specifically achieve this through steps S801-S805:

[0100] S801, determine whether the number of target image acquisition devices is greater than 1. If it is greater than 1, proceed to step S802; if it is equal to 1, proceed to step S803.

[0101] After identifying the target image acquisition device, the electronic device can first determine whether the number of target image acquisition devices is greater than 1, that is, whether only one image acquisition device has acquired the object or multiple image acquisition devices have acquired the object. Then, based on the determination result, it can choose to determine the positioning result of the object based on the corresponding locatable area of ​​one image acquisition device, or choose to combine the corresponding locatable areas of multiple image acquisition devices to determine the positioning result of the object.

[0102] S802, among the locatable areas corresponding to multiple target image acquisition devices, determine the same locatable area as the location result of the locating object.

[0103] When the number of target image acquisition devices is greater than 1, it indicates that multiple image acquisition devices have simultaneously acquired the positioning object. Furthermore, when these multiple image acquisition devices acquire images, the position of the positioning object is fixed (the positioning object can only be located in a certain locatable area, and cannot be located in multiple locatable areas). Therefore, in this case, the electronic device can determine the same locatable area in the locatable areas corresponding to the multiple target image acquisition devices, and use it as the positioning result of the positioning object.

[0104] For example, if the target image acquisition devices are device 1 and device 4, the locatable areas corresponding to device 1 are region d, region h and region m, and the locatable areas corresponding to device 4 are region a, region b, region c, region d, region i, region j, region k and region l. Then the electronic device can determine the same locatable area among the locatable areas corresponding to device 1 and device 4, namely region d. Therefore, the electronic device can determine region d as the location result of the target object.

[0105] S803, determine whether the number of independent locatable regions in the locatable region corresponding to the target image acquisition device is greater than 1. If it is equal to 1, proceed to step S804; if it is greater than 1, proceed to step S805.

[0106] When the number of target image acquisition devices equals one, it indicates that only one image acquisition device simultaneously captures the location of the object. Based on this, for overlapping locatable regions within the locatable areas corresponding to the image acquisition devices, if the object is located within an overlapping locatable region, it should be captured simultaneously by multiple image acquisition devices. In this case, the number of target image acquisition devices should be greater than one. Only when the object is located within an independent locatable region—because an independent locatable region corresponds to only one image acquisition device—will the number of target image acquisition devices equal one. Therefore, when the number of target image acquisition devices equals one, the electronic device can determine the location result of the object based on the independent locatable region within the locatable area corresponding to the target image acquisition device.

[0107] Furthermore, an image acquisition device may correspond to one independent locatable area or multiple independent locatable areas. If an image acquisition device corresponds to only one independent locatable area, then the specific location result can be determined by which image acquisition devices acquired the object (for example, when only device 5 acquired the object, according to the correspondence shown in the aforementioned table, the object can be determined to be located in area e). If an image acquisition device corresponds to multiple independent locatable areas, then the specific location result cannot be determined by which image acquisition devices acquired the object (for example, when only device 4 acquired the object, according to the correspondence shown in the aforementioned table, the object may be located in any one of area i, area j, area k, and area l).

[0108] Therefore, when the number of target image acquisition devices is equal to 1, the electronic device can further determine whether the number of independent locatable areas in the locatable area corresponding to the target image acquisition device is greater than 1.

[0109] S804 uses the independently locatable area as the location result of the location object.

[0110] When the target image acquisition device has only one independent locatable area, the electronic device can directly determine the location result of the locating object based on that independent locatable area.

[0111] S805, among multiple preset image regions in the target image, determine the target image region to which the location of the object in the target image belongs, and in the correspondence between image regions and independent locatable regions, determine the target independent locatable region corresponding to the target image region as the location result of the object.

[0112] When the target image acquisition device has multiple independently locatable areas, the electronic device can determine the final positioning result based on the pre-established correspondence between the independently locatable areas and the image area. Specifically:

[0113] On one hand, the electronic device can determine the location of the object in the target image, and then identify the target image region to which that location belongs among multiple preset image regions in the target image. On the other hand, the electronic device determines the correspondence between the image region corresponding to the target image acquisition device and the independent locatable region based on the correspondence between image regions and independent locatable regions. Finally, the electronic device searches for the target independent locatable region corresponding to the target image region in the determined correspondence, and uses this as the location result of the object.

[0114] For example, when the target image is an image captured by device 4, on the one hand, the electronic device can, according to user A's... Figure 9 The position in the target image shown is determined to belong to a pre-defined image region i'. On the other hand, the electronic device stores the correspondence between the image regions and independently locatable regions corresponding to devices 1-5, respectively. When the target image acquisition device is device 4, the electronic device can determine the correspondence between the image regions and independently locatable regions corresponding to device 4 (i.e., region i—image region i', region j—image region j', region k—image region k', region l—image region l'). Finally, the electronic device can find the target independently locatable region corresponding to the target image region i' from the determined correspondence and use region i as the positioning result of the positioning object.

[0115] In the solution provided in this application embodiment, after the electronic device identifies the target image acquisition device, it can first determine whether the number of target image acquisition devices is greater than 1. If the number is greater than 1, the locatable areas corresponding to multiple target image acquisition devices can be selected as the positioning result of the positioning object. If the number is equal to 1, it can further determine whether positioning can be performed directly based on the number of independent locatable areas of the target image acquisition device. If it is possible (i.e., the number of independent locatable areas is equal to 1), the independent locatable areas can be directly used as the positioning result of the positioning object to achieve rapid positioning. If it is not possible, the positioning result of the positioning object can be accurately determined based on the position of the positioning object in the image.

[0116] As one implementation method of this application, such as Figure 10 As shown, after executing step S104, the electronic device can also execute step S105.

[0117] S105 displays the positioning result of the object.

[0118] Electronic devices can display the location results of the object on their own screen, or on other screens that are connected to them in communication.

[0119] For example, in a cloud-based monitoring service scenario (where remote customer service personnel use IoT smart hardware such as cameras, smart speakers, and smart access control to provide customers with remote store monitoring and sales guidance services, enabling customers' businesses to continue operating even without on-site staff), the electronic devices can be the mobile phones, tablets, computers, etc., used by the customer service personnel, or even servers. After determining that the location result of the target object is region a, the electronic device can, as follows: Figure 11 As shown, the location results of the positioned objects are marked in the layout diagram, and then the marked layout diagram is displayed on its own screen, so that customer service personnel can provide shopping guidance services to users in the store based on the displayed content. Customer service personnel can also be digital humans deployed on a server. Of course, electronic devices can also send the marked layout diagram to the display devices in the store for display, so that users in the store can find the corresponding products according to their own location displayed on the display device.

[0120] In the solution provided in this application embodiment, after the electronic device determines the location result of the object, it can display the location result, so that staff can provide services to the object based on the location result, or the object can know its own location. Especially in the scenario of cloud-based monitoring services, it improves the user experience in business premises without staff.

[0121] In accordance with the above positioning method, this application also provides a positioning device, which will be described below.

[0122] like Figure 12 As shown, a positioning device includes:

[0123] The image acquisition module 1201 is used to acquire images synchronously acquired by each image acquisition device deployed in the same location, wherein there is a locatable area in the field of view of each image acquisition device;

[0124] Image determination module 1202 is used to determine the target image that includes the same positioning object in the acquired image;

[0125] The region determination module 1203 is used to determine the locatable region corresponding to the target image acquisition device, wherein the target image acquisition device is a device for acquiring target images;

[0126] The positioning module 1204 is used to obtain the positioning result of the object based on the determined locatable area.

[0127] In the solution provided in this application embodiment, for a location object in a positioning location, the electronic device can analyze the images synchronously acquired by various image acquisition devices to determine which image acquisition devices simultaneously acquired images of the location object, i.e., determine the target image acquisition device. Then, based on a preset locatable area within the field of view of the target image acquisition device, the positioning result of the location object can be determined. This process is completed by the cooperation of the electronic device and the image acquisition devices deployed in the positioning location. Users do not need to perform interactive operations such as taking photos or uploading; they only need to be within the field of view of the image acquisition device to achieve seamless positioning, reducing the complexity of positioning and improving the user experience.

[0128] As one embodiment of this application, the positioning module 1204 can be specifically used for:

[0129] When the number of target image acquisition devices is greater than 1, the same locatable area is determined in the locatable areas corresponding to the multiple target image acquisition devices, and this area is used as the location result of the object.

[0130] As one embodiment of this application, the positioning module 1204 can be specifically used for:

[0131] When the number of target image acquisition devices is equal to 1, determine whether the number of independent locatable regions in the locatable region corresponding to the target image acquisition device is greater than 1. The independent locatable region is: the locatable region that is only associated with the target image acquisition device.

[0132] If the value is 1, the independent locatable region will be used as the location result of the object.

[0133] If the value is greater than 1, among multiple preset image regions in the target image, determine the target image region to which the location of the object in the target image belongs. In the correspondence between image regions and independent locatable regions, determine the target independent locatable region corresponding to the target image region, and use it as the location result of the object.

[0134] As one implementation method of this application, the locatable area in the field of view of each image acquisition device can be determined in the following manner:

[0135] In the layout diagram of the location, the target area corresponding to the field of view of each image acquisition device is determined;

[0136] For each image acquisition device, in the target area corresponding to the image acquisition device, the part of the area that overlaps with the target areas corresponding to other image acquisition devices is divided into an overlapping locatable area, and the part of the area that does not overlap with the target areas corresponding to other image acquisition devices is divided into an independent locatable area. The overlapping locatable area and the independent locatable area are determined as the locatable area in the acquisition field of view of the image acquisition device.

[0137] As one embodiment of this application, for each image acquisition device, the correspondence between the image area and the independently locatable area corresponding to the image acquisition device is determined in the following manner:

[0138] For each independent locatable region, the image region of that independent locatable region in the image acquired by the image acquisition device is determined, and the correspondence between the independent locatable region and the image region is established.

[0139] In accordance with the above positioning method, this application also provides a positioning system, which will be described below.

[0140] like Figure 13 As shown, a positioning system includes: image acquisition devices 1301 deployed in the same positioning location and electronic devices 1302 communicatively connected to each image acquisition device 1301;

[0141] Each image acquisition device 1301 is used to acquire images of the location and send the acquired images to the electronic device 1302 through a communication connection with the electronic device 1302;

[0142] Electronic device 1302 is used to perform the positioning method described in any of the above embodiments based on the received image.

[0143] In the solution provided in this application embodiment, for a location object in a positioning location, the electronic device can analyze the images synchronously acquired by various image acquisition devices to determine which image acquisition devices simultaneously acquired images of the location object, i.e., determine the target image acquisition device. Then, based on a preset locatable area within the field of view of the target image acquisition device, the positioning result of the location object can be determined. This process is completed by the cooperation of the electronic device and the image acquisition devices deployed in the positioning location. Users do not need to perform interactive operations such as taking photos or uploading; they only need to be within the field of view of the image acquisition device to achieve seamless positioning, reducing the complexity of positioning and improving the user experience.

[0144] This application also provides an electronic device, such as... Figure 14 As shown, it includes:

[0145] Memory 1401 is used to store computer programs;

[0146] The processor 1402 is used to implement the positioning method described in any of the above embodiments when executing the program stored in the memory 1401.

[0147] In the solution provided in this application embodiment, for a location object in a positioning location, the electronic device can analyze the images synchronously acquired by various image acquisition devices to determine which image acquisition devices simultaneously acquired images of the location object, i.e., determine the target image acquisition device. Then, based on a preset locatable area within the field of view of the target image acquisition device, the positioning result of the location object can be determined. This process is completed by the cooperation of the electronic device and the image acquisition devices deployed in the positioning location. Users do not need to perform interactive operations such as taking photos or uploading; they only need to be within the field of view of the image acquisition device to achieve seamless positioning, reducing the complexity of positioning and improving the user experience.

[0148] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 1402, the communication interface, and the memory 1401 communicating with each other via the communication bus.

[0149] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0150] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0151] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0152] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0153] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of the positioning method described in any of the above embodiments.

[0154] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform the positioning method described in any of the embodiments above.

[0155] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0156] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0157] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, systems, electronic devices, computer-readable storage media, and computer program products are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0158] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A positioning method, characterized in that, The method includes: Acquire images synchronously acquired by various image acquisition devices deployed in the same location, wherein there is a locatable area in the field of view of each image acquisition device; Identify the target image among the acquired images that contains the same located object; Determine the locatable area corresponding to the target image acquisition device, wherein the target image acquisition device is a device for acquiring the target image; Based on the determined locatable area, the location result of the object is obtained.

2. The method according to claim 1, characterized in that, When the number of target image acquisition devices is greater than one, obtaining the positioning result of the positioning object based on the determined locatable area includes: Among the locatable areas corresponding to multiple target image acquisition devices, the same locatable area is determined as the location result of the locating object.

3. The method according to claim 1, characterized in that, When the number of target image acquisition devices is equal to 1, obtaining the positioning result of the positioning object based on the determined locatable area includes: Determine whether the number of independent locatable regions in the locatable region corresponding to the target image acquisition device is greater than 1, wherein the independent locatable region is: a locatable region that is only associated with the target image acquisition device; If the value is equal to 1, the independent locatable region is taken as the location result of the location object; If the value is greater than 1, among the multiple preset image regions in the target image, the target image region to which the location of the object in the target image belongs is determined. In the correspondence between image regions and independent locatable regions, the target independent locatable region corresponding to the target image region is determined as the location result of the object.

4. The method according to any one of claims 1-3, characterized in that, The locatable area within the field of view of each image acquisition device shall be determined as follows: In the layout diagram of the location, the target area corresponding to the field of view of each image acquisition device is determined respectively; For each image acquisition device, in the target area corresponding to the image acquisition device, the part of the area that overlaps with the target areas corresponding to other image acquisition devices is divided into an overlapping locatable area, and the part of the area that does not overlap with the target areas corresponding to other image acquisition devices is divided into an independent locatable area. The overlapping locatable area and the independent locatable area are determined as the locatable area in the acquisition field of view of the image acquisition device.

5. The method according to claim 4, characterized in that, For each image acquisition device, the correspondence between the image area corresponding to that image acquisition device and the independently locatable area is determined in the following way: For each independent locatable region, determine the image region of that independent locatable region in the image acquired by the image acquisition device, and establish the correspondence between the independent locatable region and the image region.

6. A positioning device, characterized in that, The device includes: The image acquisition module is used to acquire images synchronously acquired by each image acquisition device deployed in the same location, wherein there is a locatable area in the field of view of each image acquisition device; The image determination module is used to determine the target image that includes the same located object in the acquired image; The region determination module is used to determine the locatable region corresponding to the target image acquisition device, wherein the target image acquisition device is a device for acquiring the target image; The positioning module is used to obtain the positioning result of the positioning object based on the determined positioning area.

7. The apparatus according to claim 6, characterized in that, The positioning module is specifically used to: when the number of target image acquisition devices is greater than 1, determine the same locatable area in the locatable areas corresponding to the multiple target image acquisition devices respectively, and use it as the positioning result of the positioning object; And / or, The positioning module is specifically configured to: when the number of target image acquisition devices is equal to 1, determine whether the number of independent locatable regions in the locatable region corresponding to the target image acquisition device is greater than 1, wherein the independent locatable region is: a locatable region that corresponds only to the target image acquisition device; if it is equal to 1, use the independent locatable region as the positioning result of the positioning object; if it is greater than 1, determine the target image region to which the position of the positioning object in the target image belongs among multiple preset image regions in the target image, and determine the target independent locatable region corresponding to the target image region in the correspondence between image regions and independent locatable regions, and use it as the positioning result of the positioning object; And / or, The locatable area in the field of view of each image acquisition device is determined as follows: In the layout diagram of the positioning location, the target area corresponding to the field of view of each image acquisition device is determined respectively; for each image acquisition device, in the target area corresponding to the image acquisition device, the part of the area that overlaps with the target area corresponding to other image acquisition devices is divided into an overlapping locatable area, and the part of the area that does not overlap with the target area corresponding to other image acquisition devices is divided into an independent locatable area, and the overlapping locatable area and the independent locatable area are determined as the locatable area in the field of view of the image acquisition device; And / or, For each image acquisition device, the correspondence between the image area corresponding to the image acquisition device and the independent locatable area is determined in the following way: For each independent locatable area, the image area of ​​the independent locatable area in the image acquired by the image acquisition device is determined, and the correspondence between the independent locatable area and the image area is established.

8. A positioning system, characterized in that, The system includes: image acquisition devices deployed in the same location and electronic devices that are communicatively connected to the image acquisition devices. Each image acquisition device is used to acquire images of the location and send the acquired images to the electronic device through a communication connection with the electronic device. The electronic device is used to perform the positioning method according to any one of claims 1-5 based on the received image.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-5.

Images