Positioning method and related apparatus

Abstract

A positioning method and a related apparatus, which are applied to the technical field of positioning. The positioning method is applied to an electronic device (100), and comprises: acquiring a three-dimensional map of a first travelable space (S301); acquiring a first picture (S302); obtaining a first position on the basis of the first picture and the three-dimensional map of the first travelable space (S303); and displaying a first interface (S304). In this way, positioning can be performed in real time on the basis of a picture acquired by the electronic device (100); thus, the accuracy and the real-time performance are relatively high. The operation process of the solution is simple, and the operation time of a positioning process is shortened; thus, the usage experience of a user when using positioning can be significantly improved, and usage immediately after opening can be achieved.

Description

Positioning method and related device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on September 8, 2023, with application number 202311164689.7 and application name “Positioning Method and Related Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of positioning technology, and in particular to a positioning method and related devices. Background Art

[0003] With the improvement of people's quality of life and the growth of car ownership, the architectural structures of various parking spaces are becoming increasingly complex. When users park their vehicles, it becomes increasingly difficult to exit the parking lot and find their parked vehicles. For example, a shopping mall has a three-story parking lot with more than 8,000 parking spaces. Users entering the parking lot often face difficulties in finding their way and finding their vehicles.

[0004] Using electronic devices to locate a location within a parking lot is a key technology to address this issue. However, the overall structure of spaces available for vehicle movement is relatively complex (e.g., multiple floors, multiple parking spaces), and architectural elements at different locations are relatively similar. This makes it difficult for traditional positioning systems (e.g., GPS, network positioning) to accurately indicate a user's location. This is especially true for spaces such as parking lots inside buildings. Due to the poor accuracy of indoor network positioning and the lower strength and stability of indoor network signals, indoor positioning accuracy is further reduced, resulting in a poor user experience.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a positioning method and related devices, which can improve the positioning accuracy of users in a drivable space and provide a better user experience.

[0007] In a first aspect, a positioning method is provided, which can be performed by an electronic device, including but not limited to handheld terminals, wearable devices, and other electronic devices.

[0008] The method includes: obtaining a three-dimensional map of a first movable space; obtaining a first picture, and obtaining a first position of the electronic device in the first movable space based on the first picture and the three-dimensional map of the first movable space.

[0009] In the above technical solution, the electronic device can obtain a map of the traversable space, and the map can indicate a picture of the traversable space. During positioning, the electronic device can determine which position in the three-dimensional space the currently obtained picture is in by combining the obtained picture and the three-dimensional map of the traversable space, thereby obtaining the position of the electronic device in the traversable space and achieving positioning. This solution is based on the picture obtained by the electronic device for positioning, and the positioning accuracy is relatively high, and it is not easy to cause the problem of positioning "drift". For example, the user only needs to turn on the image sensor, or turn on the application to automatically call the image sensor, and then the picture can be taken to achieve positioning. Therefore, the operating process of the embodiment of the present application is relatively simple, which shortens the operation time of the positioning process, can significantly improve the user experience when using positioning, and achieve out-of-the-box use.

[0010] In addition, since the only information that needs to be input in real time during the positioning process is the captured image, this solution is not restricted by network connection conditions and is suitable for terminal positioning under various network conditions, providing a good user experience.

[0011] Furthermore, the method further includes: displaying a first interface, the first interface including a view of the first travelable space and a position of the first position in the view of the first travelable space.

[0012] In the above aspects, the first movable space is used to distinguish different movable spaces. A movable space refers to a space used to accommodate the movement of movable objects (including both animate and inanimate objects). For example, a person or vehicle can walk, move, or stop in a movable space. Another example is a movable space that has a road and parking spaces.

[0013] In some possible cases, the traversable space may be semi-enclosed, for example, the traversable space has an exit and an entrance, and the rest of the space is generally enclosed, with walls or even a multi-layer structure.

[0014] In some other possible situations, the traversable space is located indoors or inside a building. Since the network connection inside a building is prone to be unstable, this application uses the captured images and maps for positioning, which can achieve positioning function without a network.

[0015] In some other possible situations, the traversable space is located indoors and underground, for example, the traversable space may be an underground garage.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the three-dimensional map of the first traversable space is obtained by fusing visual information collected by devices that have traveled in the first traversable space. For example, the three-dimensional map of the first traversable space is obtained by fusing visual information collected by vehicles that have traveled in the first traversable space. The visual information includes, but is not limited to, information from image sensors, lidar, millimeter-wave radar, and other visual sensors. For example, the visual information may include one or more of pixel images and point cloud images.

[0017] Taking the first traversable space as an example, a vehicle uses its perception system (such as cameras and radar) to collect and fuse information within the garage to create a self-constructed map of the garage, which is then uploaded to the cloud. When multiple vehicles upload their own self-constructed maps for the same garage, the cloud can unify these uploaded self-constructed maps to form a single, accurate 3D map of the garage.

[0018] In this implementation method, the three-dimensional map itself is also obtained based on visual information, and can better reflect the architectural features in the space in the form of images, thereby improving the accuracy of matching pictures and further improving the accuracy of positioning.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the map of the first positionable space may be pre-configured in the electronic device, or may be obtained by the electronic device through a network. "Pre-configured" here may mean before positioning is performed.

[0020] Exemplarily, the installation package may include one or more three-dimensional maps of movable spaces (including a three-dimensional map of the first movable space), and the electronic device may obtain one or more three-dimensional maps of movable spaces by downloading the installation package.

[0021] As another example, when an electronic device is near a certain area (e.g., a city or urban area), it can download a 3D map of the traversable space in the city or urban area via the network. The cloud can proactively push the 3D map of the traversable space to the electronic device, or the electronic device can proactively request the 3D map of the traversable space from the cloud.

[0022] In combination with the first aspect, in some implementations of the first aspect, the method further includes: receiving indication information of a first movable space from a first vehicle, the first vehicle being associated with the electronic device, the first movable space being a movable space entered by the first vehicle.

[0023] In this embodiment, the first vehicle can indicate to the electronic device which one (or several) spatial three-dimensional maps need to be matched, thereby saving matching time and improving positioning speed and positioning accuracy.

[0024] In combination with the first aspect, in some implementations of the first aspect, the method further includes: obtaining indication information of a first movable space from the cloud, where the first movable space is a movable space where a first vehicle is located, and the first vehicle is associated with the electronic device.

[0025] In this embodiment, the electronic device can obtain from the cloud which (or which) spatial three-dimensional maps need to be matched, thereby saving matching time and improving positioning speed and positioning accuracy.

[0026] In combination with the first aspect, in some implementations of the first aspect, the method further includes: before obtaining the three-dimensional map of the first movable space, detecting the network environment of the electronic device; when the network environment of the electronic device is normal, executing the step of "obtaining indication information of the first movable space from the cloud".

[0027] In this implementation, if the electronic device's network is normal, the vehicle's current traversable space identifier can be obtained from the cloud, saving matching time and improving positioning speed and accuracy. Furthermore, testing the network status before obtaining information can reduce the probability of information acquisition failure and improve positioning efficiency.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, obtaining a first position of the electronic device in the first traversable space based on the first screen and the three-dimensional map of the first traversable space includes:

[0029] Matching spatial elements in the first image with spatial elements in a three-dimensional map of the first traversable space to determine a hit spatial element; and determining a first position of the electronic device in the traversable space based on the position of the hit spatial element in the three-dimensional map of the first traversable space. Furthermore, the method further includes: extracting the spatial element in the first image.

[0030] For example, spatial elements may include buildings (such as walls, columns, ceilings, etc.), lane lines, parking space lines, parking space numbers, and signs (such as floor signs, elevator signs, exit signs, etc.).

[0031] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0032] The direction of the electronic device in the three-dimensional map of the first movable space is determined according to the first screen and the three-dimensional map of the first movable space.

[0033] In conjunction with the first aspect, in some implementations of the first aspect, the three-dimensional map of the first traversable space includes multiple images captured from multiple perspectives, and the method further includes:

[0034] determining a target image that matches the first picture according to the first picture and the three-dimensional map of the first movable space;

[0035] The orientation of the electronic device in the three-dimensional map of the first movable space is determined according to the first viewing angle corresponding to the target image.

[0036] In combination with the first aspect, in some implementations of the first aspect, the first interface further includes a direction of the electronic device in the movable space.

[0037] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: determining a destination point, the destination point being located in the first traversable space; and displaying a second interface, the second interface including a view of the first traversable space and a navigation route from the first location to the destination point. By combining the captured image with precise positioning, the user can quickly and easily find their destination, thereby improving the user experience.

[0038] In combination with the first aspect, in some implementations of the first aspect, the method further includes: receiving an operation instruction input by a user, where the operation instruction indicates the destination point.

[0039] In combination with the first aspect, in some implementations of the first aspect, the destination point is a parking position of the first vehicle.

[0040] In a second aspect, a positioning method is provided, which can be performed by a vehicle. The vehicle is a vehicle in a broad sense, and can be a means of transportation (such as a commercial vehicle, a passenger car, a motorcycle, an air vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a mower, a harvester, etc.), a mobile robot, etc. For another example, the robot can be an intelligent handling robot (Automated Guided Vehicle, AGV), a walking conversational robot, a service robot, and other robots. Including but not limited to electronic devices such as handheld terminals and wearable devices.

[0041] The method includes: acquiring a second image, and when the second image matches an entrance image of a first movable space, sending indication information of the first movable space to an electronic device. The electronic device is associated with a first vehicle, and the electronic device indicating the first movable space is located in a three-dimensional map of the first movable space, and the three-dimensional map of the first movable space is used to indicate a three-dimensional image of the first movable space.

[0042] In combination with the second aspect, in some implementations of the second aspect, the method includes: obtaining the position of the first vehicle; determining an entrance screen of at least one traversable space to be matched based on the position of the first vehicle, the at least one traversable space including the first traversable space.

[0043] In combination with the second aspect, in some implementations of the second aspect, the method includes: obtaining the vertical height of the entrance to the first movable space; detecting the altitude change of the first vehicle, and sending indication information of the first movable space to the electronic device when the second screen matches the entrance screen of the first movable space and the absolute value of the difference between the altitude change of the vehicle and the vertical height of the entrance to the first movable space is less than a preset threshold.

[0044] That is, when the second screen matches the entrance screen of the first movable space, sending the indication information of the first movable space to the electronic device includes: when the second screen matches the entrance screen of the first movable space and the absolute value of the difference between the vehicle's altitude change and the vertical height of the entrance of the first movable space is less than a preset threshold, sending the indication information of the first movable space to the electronic device.

[0045] In a third aspect, a positioning system is provided, which includes an electronic device and a vehicle, wherein the electronic device is used to implement the method described in the first aspect or any possible implementation of the first aspect, and the vehicle is used to implement the method described in the second aspect or any possible implementation of the second aspect.

[0046] In a fourth aspect, a positioning device is provided, comprising an acquisition unit, a processing unit, and a display unit, the positioning device being used in the method described in the first aspect or any possible implementation of the first aspect. Optionally, the positioning device may further comprise an image sensor and / or a display module, wherein the image sensor is used to capture images and the display module is used to present an interface, such as a graphical user interface (GUI).

[0047] In a fifth aspect, a positioning device is provided, comprising an acquisition unit, a processing unit, and a communication unit, the positioning device being configured to implement the method described in the second aspect or any possible implementation of the second aspect. Optionally, the positioning device may further comprise a visual sensor.

[0048] According to a sixth aspect, an electronic device is provided, the electronic device including a memory and a processor, wherein the memory is configured to store program instructions;

[0049] When the processor executes the program instructions in the memory, the electronic device performs the method described in the first aspect or any possible implementation manner of the first aspect.

[0050] In a seventh aspect, a vehicle is provided, the vehicle comprising a memory and a processor, the memory being configured to store program instructions;

[0051] When the processor executes the program instructions in the memory, the electronic device performs the method described in the second aspect or any possible implementation manner of the second aspect.

[0052] In an eighth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores program instructions, and the program instructions are used to implement the method described in the first aspect or any possible embodiment of the first aspect, or to implement the method described in the first aspect or any possible embodiment of the first aspect.

[0053] In a ninth aspect, a computer program product is provided, which comprises instructions or a computer program, and when the instructions or the computer program are executed, it implements any method of the first aspect, or implements any method of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The following is a brief introduction to the drawings required for describing the embodiments.

[0055] FIG1 is a schematic diagram of the hardware structure of an electronic device;

[0056] FIG2 is a schematic diagram of the software structure of an electronic device;

[0057] FIG3 is a flow chart of a positioning method provided in an embodiment of the present application;

[0058] FIG4 is a schematic diagram of a map provided in an embodiment of the present application;

[0059] FIG5 is a schematic diagram of a user interface provided in an embodiment of the present application;

[0060] FIG6 is a schematic diagram of another user interface provided in an embodiment of the present application;

[0061] FIG7 is a schematic diagram of another user interface provided in an embodiment of the present application;

[0062] FIG8 is a schematic diagram of a first screen provided in an embodiment of the present application;

[0063] FIG9 is a schematic diagram of a space element provided in an embodiment of the present application;

[0064] FIG10 is a schematic diagram of a first interface provided in an embodiment of the present application;

[0065] FIG11 is a schematic diagram of a second interface provided in an embodiment of the present application;

[0066] FIG12 is a schematic diagram of information interaction provided by an embodiment of the application;

[0067] FIG13 is a flow chart of another positioning method provided in an embodiment of the present application;

[0068] FIG14 is a schematic diagram of a scene of a vehicle entering a basement provided by an embodiment of the present application;

[0069] FIG15 is a schematic structural diagram of a positioning device provided in an embodiment of the present application;

[0070] FIG16 is a schematic structural diagram of another positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0072] The electronic device may be a user device, an access terminal, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent, or a user apparatus. The electronic device may also be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device, an electronic device in a 5G network, or an electronic device in an evolved public land mobile network (PLMN), etc.

[0073] The movable space mentioned in the embodiments of the present application refers to a space that can accommodate movable objects (including living objects and inanimate objects) to move therein. For example, people and cars can walk, move, stop, etc. in the movable space. In some schemes, the movable space has roads and parking spaces, such as a parking lot. In some possible cases, the movable space can be a semi-enclosed design, for example, the movable space has an exit and an entrance, and the remaining areas are usually closed. For example, the movable space has walls or even a multi-story structure. In some other possible cases, the movable space is located indoors, or inside a building, such as an indoor parking lot. In some other possible cases, the movable space is located indoors and underground, for example, the movable space can be an underground garage.

[0074] An electronic device applicable to the present application will be described below with reference to FIG1 .

[0075] Exemplarily, the electronic device 100 may include a processor 110, an interface (e.g., an external memory interface 120), a camera 193, and a display screen 194. Furthermore, the electronic device may further include one or more of the following modules: an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a button 190, a motor 191, an indicator 192, and a subscriber identification module (SIM) card interface 195. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0076] It should be understood that the structures illustrated in the embodiments of the present application do not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may include more or fewer components than shown, or may combine or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0077] Processor 110 may include one or more processing units. For example, processor 110 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). The different processing units may be independent devices or integrated into one or more processors. The controller may generate operation control signals based on instruction opcodes and timing signals to control instruction fetching and execution. Processor 110 may also include a memory for storing instructions and data. In some embodiments, the memory in processor 110 is a high-speed cache memory. This memory can store instructions or data that have just been used or are recycled by processor 110. If processor 110 needs to use the instruction or data again, it can directly call it from the memory. This avoids repeated accesses, reduces the waiting time of processor 110, and thus improves system efficiency.

[0078] In some embodiments, the processor 110 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface. Among them, the USB interface 130 is an interface that complies with the USB standard specification, and specifically can be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 130 can be used to connect a charger to charge the electronic device 100, and can also be used to transmit data between the electronic device 100 and peripheral devices. It can also be used to connect headphones to play audio through the headphones. The interface can also be used to connect other electronic devices, such as AR devices.

[0079] It is understood that the interface connection relationship between the modules illustrated in the embodiment of the present invention is merely an illustrative illustration and does not constitute a structural limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may also adopt different interface connection methods from the above embodiments, or a combination of multiple interface connection methods.

[0080] The charging management module 140 is configured to receive charging input from a charger. The power management module 141 is configured to power one or more modules via the battery 142 and / or the charging management module 140. The wireless communication function of the electronic device 100 can be implemented via antenna 1, antenna 2, mobile communication module 150, wireless communication module 160, a modem processor, and a baseband processor.

[0081] The mobile communication module 150 can provide wireless communication solutions including 2G / 3G / 4G / 5G applied on the electronic device 100.

[0082] The wireless communication module 160 can provide wireless communication solutions applied to the electronic device 100, including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared technology (IR), star flash, etc. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, frequency modulate it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0083] In some embodiments, antenna 1 of electronic device 100 is coupled to mobile communication module 150, and antenna 2 is coupled to wireless communication module 160, so that electronic device 100 can communicate with a network and other devices via wireless communication technology. Wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology. The GNSS may include a global positioning system (GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS) and / or a satellite based augmentation system (SBAS).

[0084] Electronic device 100 implements display functionality through a GPU, display screen 194, and an application processor. A GPU is a microprocessor for image processing that connects display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. Processor 110 may include one or more GPUs that execute program instructions to generate or modify display information.

[0085] Display screen 194 is used to display images, videos, and the like. Display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a MiniLED, a MicroLED, a Micro-oLed, or a quantum dot light-emitting diode (QLED). In some embodiments, electronic device 100 may include one or N display screens 194, where N is a positive integer greater than one.

[0086] The electronic device 100 can realize the shooting function through the ISP, camera 193, video codec, GPU, display screen 194 and application processor. The camera 193 is used to capture still images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the light signal into an electrical signal, and then passes the electrical signal to the ISP for conversion into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV or other format. In some embodiments, the electronic device 100 may include 1 or N cameras 193, where N is a positive integer greater than 1.

[0087] The electronic device 100 can implement audio functions such as music playback and recording through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone jack 170D, and the application processor.

[0088] The gyroscope sensor 180B can be used to determine the motion posture of the electronic device 100. In some embodiments, the angular velocity of the electronic device 100 around three axes (i.e., x, y, and z axes) can be determined by the gyroscope sensor 180B. The gyroscope sensor 180B can be used for anti-shake shooting. For example, when the shutter is pressed, the gyroscope sensor 180B detects the angle of the electronic device 100 shaking, calculates the distance that the lens module needs to compensate based on the angle, and allows the lens to offset the shaking of the electronic device 100 through reverse movement to achieve anti-shake. The gyroscope sensor 180B can also be used for navigation and somatosensory game scenes.

[0089] Pressure sensor 180A is used to sense pressure signals and convert them into electrical signals. In some embodiments, pressure sensor 180A can be located on display screen 194. Barometric pressure sensor 180C is used to measure air pressure. In some embodiments, electronic device 100 uses the barometric pressure measured by barometric pressure sensor 180C to calculate altitude, assisting in positioning and navigation.

[0090] Accelerometer 180E can detect the magnitude of acceleration of electronic device 100 in all directions (generally three axes). It can also detect the magnitude and direction of gravity when electronic device 100 is stationary. It can also be used to identify the electronic device's posture, enabling applications such as switching between landscape and portrait modes and pedometers.

[0091] The distance sensor 180F is used to measure distance. The electronic device 100 can measure distance using infrared or laser. In some embodiments, when shooting a scene, the electronic device 100 can use the distance sensor 180F to measure distance to achieve fast focusing.

[0092] The proximity light sensor 180G may include, for example, a light emitting diode (LED) and a light detector, such as a photodiode. The light emitting diode may be an infrared light emitting diode. The electronic device 100 emits infrared light outward through the light emitting diode. The electronic device 100 uses a photodiode to detect infrared reflected light from nearby objects. When sufficient reflected light is detected, it can be determined that there is an object near the electronic device 100. When insufficient reflected light is detected, the electronic device 100 can determine that there is no object near the electronic device 100. The electronic device 100 can use the proximity light sensor 180G to detect that the user is holding the electronic device 100 close to the ear to talk, so as to automatically turn off the screen to save power. The proximity light sensor 180G can also be used in leather case mode and pocket mode to automatically unlock and lock the screen.

[0093] Ambient light sensor 180L is used to sense ambient light brightness. Electronic device 100 can adaptively adjust the brightness of display screen 194 based on the perceived ambient light. Ambient light sensor 180L can also be used to automatically adjust white balance when taking photos. Ambient light sensor 180L can also work with proximity light sensor 180G to detect whether electronic device 100 is in a pocket to prevent accidental touches.

[0094] The touch sensor 180K is also called a "touch-sensitive device." The touch sensor 180K can be disposed on the display screen 194. The touch sensor 180K and the display screen 194 form a touch screen, also called a "touch screen." The touch sensor 180K is used to detect touch operations applied thereto or in the vicinity thereof. The touch sensor can transmit the detected touch operations to the application processor to determine the type of touch event. Visual output related to the touch operations can be provided via the display screen 194. In other embodiments, the touch sensor 180K can also be disposed on the surface of the electronic device 100, at a location different from that of the display screen 194.

[0095] The magnetic sensor 180D, fingerprint sensor 180H, temperature sensor 180J, bone conduction sensor 180M, button 190, motor 191, indicator 192, SIM card interface 195 and other related modules can refer to the introduction in the relevant technology.

[0096] The above is a schematic diagram of the hardware architecture of an electronic device. The following continues to introduce the software architecture of the electronic device by taking the electronic device 100 as an example.

[0097] The software system of the electronic device 100 can adopt a layered architecture, an event-driven architecture, a micro-kernel architecture, a micro-service architecture, or a cloud architecture. In the embodiment of the present invention, the Android system with a layered architecture is used as an example to illustrate the software structure of the electronic device 100.

[0098] Figure 2 is a block diagram of the software structure of electronic device 100 according to an embodiment of the present invention. A layered architecture divides software into several layers, each with distinct roles and responsibilities. Layers communicate with each other via software interfaces. In some embodiments, the Android system is divided into four layers: the application layer, the application framework layer, the Android runtime and system libraries, and the kernel layer.

[0099] The application layer can include a series of application packages. As shown in Figure 2, the application package can include camera, gallery, calendar, call, map, navigation, WLAN, Bluetooth, music, video, short message and other applications.

[0100] The application framework layer provides an application programming interface (API) and programming framework for applications in the application layer. The application framework layer includes some predefined functions. As shown in Figure 2, the application framework layer may include a window manager, a content provider, a view system, a telephony manager, a resource manager, a notification manager, and so on. The window manager manages window programs. It can obtain the display screen size, determine whether a status bar is present, lock the screen, take screenshots, and so on. The content provider stores and retrieves data and makes this data accessible to applications. This data may include video, images, audio, dialed and received calls, browsing history and bookmarks, and a phone book. The view system includes visual controls, such as controls for displaying text and images. The view system can be used to build applications. The display interface can be composed of one or more views. For example, a display interface including a text message notification icon may include a view for displaying text and a view for displaying images. The telephony manager provides communication functions for electronic device 100, such as managing call status (including connected and hung up). The resource manager provides various resources for applications, such as localized strings, icons, images, layout files, video files, and so on. The Notification Manager allows applications to display notifications in the status bar. These messages can be displayed briefly and then disappear automatically without user interaction. For example, the Notification Manager is used to notify users of completed downloads and message reminders. The Notification Manager can also display notifications in the top status bar of the system as icons or scrolling text, such as notifications from background applications, or as dialog windows on the screen. Examples include text messages in the status bar, beeps, vibrations on electronic devices, and flashing indicator lights.

[0101] The Android Runtime consists of core libraries and a virtual machine (VM). The Android runtime is responsible for scheduling and management of the Android system. The core library consists of two parts: one for Java-based functions and the other for the Android core library. The application layer and application framework layer run in the VM. The VM executes Java files from the application layer and application framework layer as binary files. The VM is responsible for performing functions such as object lifecycle management, stack management, thread management, security and exception management, and garbage collection.

[0102] The system library can include multiple functional modules. For example: surface manager, media library, 3D graphics processing library (such as OpenGL ES), 2D graphics engine (such as SGL), etc. The surface manager is used to manage the display subsystem and provides fusion of 2D and 3D layers for multiple applications. The media library supports playback and recording of various common audio and video formats, as well as static image files. The media library can support multiple audio and video encoding formats, such as MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc. The 3D graphics processing library is used to implement 3D graphics drawing, image rendering, synthesis, and layer processing. The 2D graphics engine is a drawing engine for 2D drawing. The kernel layer is the layer between hardware and software. The kernel layer includes at least display driver, camera driver, audio driver, and sensor driver.

[0103] The following is an example of the workflow of the electronic device 100 software and hardware in conjunction with the capture and photo taking scene. When the touch sensor 180K receives a touch operation, the corresponding hardware interrupt is sent to the kernel layer. The kernel layer processes the touch operation into a raw input event (including touch coordinates, touch operation timestamp and other information). The raw input event is stored in the kernel layer. The application framework layer obtains the raw input event from the kernel layer and identifies the control corresponding to the input event. For example, if the touch operation is a touch single-click operation and the control corresponding to the single-click operation is the control of the camera application icon, the camera application calls the interface of the application framework layer to start the camera application, and then starts the camera driver by calling the kernel layer to capture a still image or video through the camera 193.

[0104] The positioning method provided in the embodiment of the present application is described in detail below with reference to FIG. 2 to FIG. 14 .

[0105] With the development of urbanization, more and more high-rise buildings have led to an increasing demand for precise positioning in space. The present invention provides a positioning method and related devices that can improve the positioning accuracy and efficiency of users in drivable spaces and enhance user experience.

[0106] Please refer to Figure 3, which is a flow chart of a positioning method provided in an embodiment of the present application. Optionally, the method can be applied to the electronic device 100 described in Figure 1. It should be understood that for the convenience of description, the description is given in the order of S301 to S304, and it is not intended to limit the execution to the above order. The embodiment of the present application does not limit the order of execution of one or more steps, the execution time, the number of executions, etc. The specific steps S301-S304 are as follows:

[0107] Step S301: The electronic device obtains a three-dimensional map of a first movable space.

[0108] The first traversable space can accommodate movable objects, such as a parking lot, a parking structure, an underground garage, etc. The three-dimensional map of the first traversable space is used to indicate a three-dimensional image of the first traversable space. For example, the three-dimensional map can indicate the three-dimensional coordinate positions of some or all spatial elements in the first traversable space in the space. Among them, spatial elements can include buildings (such as walls, columns, ceilings, or pipes), lane lines, driving direction arrows, color blocks, speed bumps, parking space lines, parking space numbers, signs (such as floor signs, elevator signs, exit signs, etc.). Furthermore, the three-dimensional map can also indicate attribute information of spatial elements, such as one or more of location, color, texture, size, etc. It should be understood that the storage and transmission of three-dimensional maps can be in various forms, such as directly using a three-dimensional model for storage, or storing the attribute information of spatial elements and then representing them on a plane through perspective relationships. In other words, the three-dimensional here refers to the ability to show the characteristics of spatial elements in a three-dimensional world, and does not mean that the map must be stored in the form of three-dimensional data. For example, in some solutions, the three-dimensional characteristics of spatial elements can be expressed through maps, and even the height and depth of spatial elements can be expressed through translation, rotation, and perspective conversion. Such maps also fall within the scope of three-dimensional maps.

[0109] Please refer to Figure 4, which is a schematic diagram of a map provided in an embodiment of the present application. The map may include spatial elements such as walls, support columns, parking spaces, basement partitions, parking space numbers, elevator entrances, lanes, lane markings, signs, or entrances and exits. The three-dimensional map shown in Figure 4 can reflect the position of the above-mentioned spatial elements in three-dimensional space, and further includes one or more of the position of the spatial elements and the color, texture, etc. of the spatial elements. Furthermore, the three-dimensional map can also reflect the three-dimensional size of the above-mentioned elements.

[0110] In some possible solutions, a three-dimensional map of the first traversable space is obtained by fusing visual information collected by devices that have traveled in the first traversable space. For example, the three-dimensional map of the first traversable space is obtained by fusing visual information collected by vehicles that have traveled in the first traversable space. Visual information includes, but is not limited to, information from image sensors, lidar, millimeter-wave radar, and other visual sensors. For example, the visual information may include one or more of pixel images, point cloud images, and fused images (such as the self-constructed map described below). Taking the first traversable space as an underground garage as an example, vehicles within the garage use perception systems (such as cameras, radar, etc.) to collect and fuse visual information to generate a self-constructed map of the garage, and then upload this self-constructed map to the cloud. When multiple vehicles upload their own self-constructed maps for the same garage, the cloud can unify and fuse the self-constructed maps uploaded by multiple vehicles to form a single, accurate three-dimensional map of the garage. In other words, the three-dimensional map can be obtained based on crowdsourced visual information collected by vehicles.

[0111] It should be understood that the first traversable space may belong to one or more of the multiple traversable spaces. For ease of understanding, the following examples illustrate several ways to obtain a three-dimensional map of the first traversable space:

[0112] Method 1: A three-dimensional map of the first traversable space is pre-configured in the electronic device. For example, the installation package may include one or more three-dimensional maps of traversable spaces (including the three-dimensional map of the first traversable space), and the electronic device may obtain the one or more three-dimensional maps of the traversable spaces by downloading the installation package.

[0113] Optionally, all three-dimensional maps included in the installation package can be regarded as the three-dimensional map of the first traversable space. Alternatively, the three-dimensional map of the first traversable space can be determined based on other input information.

[0114] In a second method, the electronic device can obtain a three-dimensional map of the first traversable space through the network. For example, when the electronic device is near a certain area (e.g., a city or urban area), it can download a three-dimensional map of the traversable space in the city or urban area through the network. Optionally, the cloud can also proactively send the three-dimensional map of the traversable space to the electronic device, or alternatively, the electronic device can proactively request the three-dimensional map of the traversable space from the cloud.

[0115] In a third approach, the electronic device may determine the three-dimensional map of the first traversable space from the at least one three-dimensional map of the traversable space based on the indication information of the first traversable space. The indication information may be one or more of a name, an ID, a location (e.g., one or more of longitude, latitude, or altitude), a map tile ID, geo-fence information, and the like.

[0116] Optionally, the indication information of the first movable space may be determined by the electronic device based on its own location information, or received from a user input, or received from another device. The following are several possible solutions:

[0117] In some examples, electronic device 100 may display multiple indicator cards (or spaces) representing accessible spaces. In response to a user action (e.g., a click) on any of these multiple indicator cards, electronic device 100 may determine that the accessible space corresponding to the indicator card is the first accessible space. For details, see user interface 500 shown in FIG5 . As shown in FIG5 , user interface 500 may include a title "Select Parking Lot," controls 501, 502, 503, an indicator card 504 (i.e., an interface for indicating accessible spaces), and control 505. Controls 501 through 503 are used to filter the currently displayed indicator cards. For example, control 501 is used to select or enter the city where the parking lot is located, control 502 is used to select or enter the district (or county) where the parking lot is located, control 503 is used to select or enter the street (or other regional granularity) where the parking lot is located, and control 505 is used to scroll through the card list, thereby triggering an update of the displayed indicator cards. It should be understood that the number of controls may be greater or lesser (or even absent). In some examples, the electronic device 100 can generate a selection operation for "XX community parking lot" according to the indication card 504 in response to a user operation (such as a click operation) on the indication card 504, thereby obtaining a three-dimensional map of the "XX community parking lot".

[0118] In some other examples, the electronic device 100 can receive indication information of a first movable space sent by a vehicle (referred to as the first vehicle for ease of distinction). For example, the first vehicle enters the "XX community parking lot", and its ID corresponds to P011, then the first vehicle can send indication information of the "XX community parking lot" to the electronic device 100, such as sending the ID "P011" of the movable space to the electronic device. In this example, the electronic device 100 can be associated with one or more vehicles. For example, an application is installed on the electronic device 100, and account information is established in the application, and the account information is associated with a certain vehicle. For another example, when the electronic device 100 is an electronic device used by a car owner, it should be understood that the car owner involved in the embodiments of the present application refers to the legally authorized user of the vehicle.

[0119] FIG6 is a schematic diagram of a possible user interface provided in an embodiment of the present application. User interface 600 may include controls 601, 602, 603, and 604. Control 601 is used to display the first traversable space (i.e., "XX Community Parking Lot") where the first vehicle is located, control 602 is used to prompt the user to trigger positioning, control 603 is used to trigger the selection of another parking lot, and control 604 is used to trigger the start of the shooting process.

[0120] In some other examples, the electronic device 100 may receive information indicating a first traversable space sent by the cloud. For example, the electronic device 100 requests its own location from the cloud, and the cloud sends information indicating the closest traversable space around the location of the electronic device 100 to the electronic device 100. For another example, a vehicle may send its own location or, instead, (indication information of its traversable space) to the cloud, and the cloud may send information indicating a first traversable space to the electronic device 100, where the first traversable space is the first vehicle's current closest traversable space (or the traversable space where the first vehicle is located).

[0121] FIG7 is a schematic diagram of another user interface provided in an embodiment of the present application. User interface 700 may include a title “Select Your Parking Lot,” a control 701, a control 702, a control 703, a control 704, and a control 705. Control 701 is used to display the first traversable space (i.e., “XX Community Parking Lot”) associated with the first vehicle and a map of its surroundings, where the location and map of the first traversable space where the first vehicle is located may be provided to the electronic device 100 by the cloud. Control 702 is used to display the specific location of the first vehicle on the map, control 703 is used to prompt the user to trigger positioning, control 704 is used to trigger the selection of another parking lot, and control 705 is used to trigger the entry into the shooting process.

[0122] As a possible implementation, the electronic device can detect its own network environment and, when the network environment is normal, obtain information indicating the first traversable space from the cloud. Specifically, a normal network environment of the electronic device may include the following: successful sending or receiving of information, or a data transmission rate (or alternatively, upload rate or download rate) exceeding a preset first network rate threshold.

[0123] It should be understood that the above-mentioned methods can be combined. Taking the combination of methods 1 and 3 as an example, the electronic device is pre-configured with multiple three-dimensional maps of traversable spaces, and the three-dimensional map of one of the traversable spaces is determined by receiving instruction information from the vehicle. Taking the combination of methods 1 and 2 as an example, the electronic device can be pre-configured with multiple three-dimensional maps of traversable spaces, and the three-dimensional maps are maintained by the cloud. When there is an update to the three-dimensional map of a certain (or a certain group of) traversable spaces, the cloud can provide the update information to the electronic device, thereby updating the three-dimensional map in the electronic device to obtain the updated three-dimensional map of one or more traversable spaces. Taking the combination of methods 1 and 2 as another example, the three-dimensional maps of some traversable spaces can be pre-set in an app, and the electronic device obtains the three-dimensional map of this part of the traversable space by installing and downloading the app. Furthermore, during subsequent use, the user can selectively download maps of specified areas according to their needs. At the same time, when the map in the cloud is updated, it will also be pushed to the electronic device, and the user can choose whether to update the three-dimensional map according to their needs.

[0124] In some possible implementations, the map of the traversable space may be desensitized to avoid privacy and information security issues. Optionally, the map may be stored in an electronic device for a long period of time.

[0125] Step S302: The electronic device acquires a first picture.

[0126] The acquisition may include acquiring from a sensor, or reading from stored image data (e.g., acquired from a photo album). Optionally, the first screen may include one or more images, or may also include video data. For example, when the electronic device captures a screen through a camera, the electronic device may acquire a video stream captured by the camera, and capture one or more frames of images from the video stream as the first screen.

[0127] For example, the electronic device may include a camera, and the electronic device may call the camera to shoot a picture, thereby obtaining a picture from the camera. As shown in FIG8 below, a schematic diagram of a first picture provided in an embodiment of the present application is shown.

[0128] In some embodiments, step S302 is performed after receiving the user's operation. For example, the method shown in Figure 3 can be integrated as a function in an application (APP), and step S302 is performed after the user opens the application. For another example, in conjunction with Figure 6, the electronic device can respond to the user clicking on control 604 or long pressing control 604 to capture the first picture. Of course, the user's operations for entering the shooting process are not limited to the ones illustrated here. For example, the user can also enter the shooting process by pressing the volume key or other operations.

[0129] Furthermore, the electronic device may first obtain camera usage permissions (e.g., photography and video recording permissions) and then use the camera to capture images. As a possible implementation, when the electronic device turns on the positioning function (e.g., when a positioning application is opened), it may display a prompt message to prompt the user to authorize the function or the positioning application to use the camera. In another case, the user may authorize the positioning function (e.g., when a positioning application is opened) to use the camera through the system settings function of the electronic device.

[0130] Step S303: The electronic device obtains a first position of the electronic device according to the first image and the three-dimensional map of the first movable space.

[0131] Among them, the first position is in the first movable space. Specifically, the electronic device determines, based on the first picture and in combination with the three-dimensional map of the movable space, at which position in the three-dimensional space the currently acquired picture is located, thereby obtaining the position of the electronic device in the movable space. The first picture acquired by the electronic device may be taken at any position in the first movable space, that is, for the picture taken by the user at any position in the map, the electronic device can match it with the map, and obtain the corresponding position of the electronic device in the map when the match is successful, so that the user can accurately and timely locate his position, even without the support of the network, which significantly improves the convenience of use.

[0132] As a possible implementation, the three-dimensional map of the first movable space is obtained based on the fusion of multiple images, and each of the multiple images can be associated with one or a group of coordinate positions. When matching, the electronic device can determine the target image matched by the first picture from the multiple images, and the position associated with the target image can be used as the first position of the electronic device, or the position associated with the target image is related to the first position of the electronic device. Furthermore, when matching, the electronic device can match the spatial elements in the first picture with the spatial elements in the multiple pictures to obtain the hit spatial elements, thereby determining the target image matched with the first picture based on the hit spatial elements.

[0133] As mentioned above, the three-dimensional map of the first movable space can be obtained by fusing the images taken by the vehicle in the first movable space. In some schemes, when the vehicle takes a picture, it can associate the currently taken picture with its current position. Accordingly, when the captured picture is used to fuse to obtain the three-dimensional map of the first movable space, the image of the picture contained in the three-dimensional map also corresponds to the position. In this way, when the electronic device uses the captured first picture to achieve positioning, the electronic device can match a picture similar to the first picture from the three-dimensional map, thereby inferring the current position of the electronic device based on the position corresponding to the matched picture.

[0134] As a possible implementation, the electronic device may match the spatial elements in the first screen with the spatial elements in the three-dimensional map of the first traversable space to determine the hit spatial elements, and determine the first position of the electronic device in the traversable space based on the position of the hit spatial elements in the three-dimensional map of the first traversable space (e.g., the vector coordinates of the hit spatial elements). The hit spatial elements refer to the spatial elements in the first screen that can be matched with the spatial elements in the three-dimensional map, for example, the degree of match is greater than a first threshold, where the first threshold can be predefined or pre-set.

[0135] Please refer to Figure 9, which is a schematic diagram of a spatial element provided by an embodiment of the present application. The electronic device can extract multiple spatial elements from the screen shown in Figure 9, such as a sign 901, text (or floor indicator) 902, parking space number (i.e., 1273) 903, parking space number (i.e., 1272) 904, support column 905, wall 906, and text (or guide symbol) 907. The electronic device 100 can match the above one or more elements with the spatial elements in the three-dimensional map of the first traversable space. Taking the matching of parking space numbers as an example, through the parking space number (i.e., 1273) 903, it can be matched with the parking space number "1273" in the first traversable space (i.e., the parking space number "1273" is the hit spatial element). Similarly, when the sign 901 can match the sign in the three-dimensional map, the sign 901 is regarded as the hit spatial element. The first position of the electronic device can be determined based on the position of the hit spatial element (such as the parking space number "1273" etc.) in the three-dimensional map.

[0136] In some embodiments, the electronic device can also determine the orientation of the electronic device based on the first image and the three-dimensional map of the first traversable space. This orientation refers to the relative orientation of the electronic device's preset orientation on the three-dimensional map of the traversable space. Exemplarily, the preset orientation of the electronic device is represented by the direction of the back of the electronic device when the device is upright. Furthermore, the preset orientation can be the direction of the rotation axis of a gyroscope.

[0137] For ease of understanding, here are several possible ways to determine the direction:

[0138] In method 1, the electronic device can determine the direction of the electronic device based on the perspective corresponding to the first screen. For example, the three-dimensional map contains multiple images taken from multiple perspectives. During matching, the electronic device determines the target image matched by the first screen, and the target image is the image of the three-dimensional map at the first perspective. The direction of the electronic device is the direction of the first perspective or the direction of the electronic device is related to the direction of the first perspective. For example, when the electronic device uses a rear camera to shoot a picture, the direction of the electronic device is the direction of the first perspective.

[0139] As mentioned above, a three-dimensional map can be obtained based on the fusion of images taken at multiple positions. When a vehicle passes a certain position in the first traversable space, it can capture an image from a first perspective. The images captured at this position and perspective are used to fuse to obtain a three-dimensional map, forming an image in the three-dimensional map. During positioning, after the electronic device captures the first picture, it matches the first picture with the image in the three-dimensional map. According to the shooting perspective corresponding to the picture matching the first picture (i.e., the first perspective), the shooting perspective of the electronic device when capturing the first picture can be determined, thereby determining the direction of the electronic device. In other words, the electronic device may be able to capture the first picture that matches the picture precisely because it is in the position and orientation of the vehicle capturing the picture. The position and orientation of the electronic device may be the same as the position and orientation of the vehicle capturing the picture.

[0140] Furthermore, when matching images based on the first screen, spatial elements in the first screen can be extracted, and then the spatial elements in the first screen are matched with the spatial elements in the image in the three-dimensional map, thereby determining an image of the three-dimensional map that matches the first screen. For example, in conjunction with FIG9 , the first screen acquired by the electronic device includes an image of sign 901. Based on the image of sign 901, a target image to which the image matches is determined. The target image is the image of sign 901 on the three-dimensional map from the first perspective. The orientation of the electronic device is the orientation of the first perspective or the orientation of the electronic device is related to the orientation of the first perspective.

[0141] Method 2: The electronic device can determine the direction of the electronic device based on the corresponding position of the hit spatial element in the three-dimensional map. For example, with reference to Figure 9, in the first screen, the sign 901, text 902, parking space number 903, parking space number 904, support column 905, wall 906, and text 907 are hit, and the positions of the above spatial elements in the map are known. Therefore, based on the position of the hit spatial elements in the first screen in the three-dimensional map, the shooting angle of the first screen can be determined, and the direction of the electronic device is the shooting angle of the first screen, or the direction of the electronic device is related to the shooting angle.

[0142] Method 3, the electronic device can determine the direction of the electronic device according to the state of the hit spatial element. Specifically, the electronic device determines the direction of the electronic device in the first movable space according to the position of the hit spatial element in the first movable space and the state of the hit spatial element in the first screen. Specifically, in conjunction with Figure 9, the three-dimensional map contains the position of the sign 901, and the electronic device determines the direction of the electronic device according to the change in the six degrees of freedom (or three degrees of freedom) of the hit sign in the first screen compared to the sign 901 in the three-dimensional map. Among them, the three degrees of freedom are the degrees of freedom of movement along the three rectangular coordinate axes of x, y, and z, and the six degrees of freedom are the degrees of freedom of movement along the three rectangular coordinate axes of x, y, and z and the degrees of freedom of rotation around these three coordinate axes, wherein the directions of the coordinate axes can be predefined, for example, with reference to the geodetic coordinate system.

[0143] In some possible implementations, the images captured by the electronic device or vehicle are primarily used to participate in a calculation process (e.g., the aforementioned matching process). After the calculation is completed, the images can be deleted, thereby reducing storage pressure and improving data security.

[0144] Step S304: The electronic device displays a first interface.

[0145] The first interface includes a view of the first travelable space and the position of the first position within the view of the first travelable space. The view of the first travelable space refers to a view obtained by viewing the three-dimensional map of the first travelable space from any angle, such as a top view or a floor plan of a specific floor. Furthermore, the view can be rotated, enlarged, or reduced based on the original view to form a new view, depending on user operations.

[0146] In some specific implementations, in conjunction with FIG1 , the processor 110 of the electronic device 100 may output a first interface, and the display screen 194 of the electronic device may display the first interface.

[0147] Optionally, the first interface also includes the orientation of the electronic device. Please refer to Figure 10, which is a schematic diagram of a first interface provided in an embodiment of the present application. First interface 1000 includes control 1001, which is used to indicate the position and orientation of the electronic device. The first interface also displays a view of the first travel space. The relative positional relationship between the view of the first travel space and control 1001 can represent the position of the first position within the view of the first traversable space.

[0148] In some possible implementations, the electronic device may determine the destination point and display a second interface, wherein the second interface includes a view of the first traversable space and a navigation route from the first position to the destination point. Optionally, the destination point may be determined by receiving user input, for example, the user selects the elevator entrance as the destination point on the first interface. Or optionally, the destination point may be the location of the user's vehicle, for example, the destination point is the parking location of the first vehicle. Please refer to Figure 11, which is an interface diagram of a second interface provided in an embodiment of the present application, wherein the second interface 1100 includes a map of the underground garage, the location of the vehicle, the first location, and the route from the first location to the location of the vehicle, wherein the control 1101 is used to indicate the location (i.e., the first location) and direction of the electronic device.

[0149] In some possible implementations, the electronic device 100 includes a gyroscope sensor 180B, which can determine the angular velocity of the electronic device 100 around three axes (e.g., x, y, and z axes), thereby calculating the direction and distance of movement of the electronic device 100 and achieving continuous navigation from the current location to the destination.

[0150] In the embodiment shown in FIG3 , the electronic device can obtain a map of the movable space. During positioning, the electronic device can determine which position in the movable space the currently acquired picture is in by combining the acquired picture and the map of the movable space, thereby obtaining the position of the electronic device in the movable space and achieving positioning. This solution uses the captured picture to perform positioning, and can perform comparison based on the picture acquired by the electronic device in real time, with relatively high accuracy. For example, the user only needs to turn on the image sensor, or turn on the application to automatically call the sensor, and then the picture can be captured to achieve positioning. The operation process is relatively simple, which shortens the operation time of the positioning process, and can significantly improve the user experience when using positioning, achieving out-of-the-box use.

[0151] In addition, since the only information that needs to be input in real time during the positioning process is the captured image, this solution is not restricted by network connection conditions and is suitable for terminal positioning under various network conditions, providing a good user experience.

[0152] In some of the aforementioned schemes, the electronic device can interact with other devices. Please refer to Figure 12, which is a schematic diagram of information interaction provided by an embodiment of the present application. Among them, the description of the electronic device 100 can be found in the above, and the vehicle 200 is used as an exemplary device with the ability to move. In the specific implementation, it can also be replaced by other movable terminals, such as automatic guided vehicles. The cloud 300 refers to a device with relatively concentrated computing power located at a remote end, which can be implemented through a server, a virtual machine, a cloud, etc. As shown in Figure 12, the electronic device 100, the vehicle 200, and the cloud 300 can communicate with each other. It should be noted that the direction of the arrow shown in Figure 3 is only an exemplary direction of information interaction, and the unidirectional arrow is only for illustrative purposes. It does not limit the direction of communication to be unidirectional.

[0153] Taking the communication between electronic device 100 and vehicle 200 as an example, the vehicle can provide electronic device 100 with its own information, such as location information and information about the traversable space in which it is located. Location information includes longitude, latitude, and address (e.g., street, building, etc.). Information about the traversable space includes the identifier of the traversable space (e.g., number or ID) and information about the entrance to the traversable space (e.g., entrance number, logo, image, etc.).

[0154] Taking the communication between the electronic device 100 and the cloud 300 as an example, the cloud can provide the electronic device 100 with vehicle information or information about the traversable space, etc. The vehicle information includes, for example, the vehicle's current location and the traversable space in which the vehicle is currently located. The traversable space information includes, for example, a three-dimensional map of the traversable space.

[0155] Taking the communication between the electronic device 100, the vehicle 200 and the cloud 300 as an example, the vehicle can provide its own information to the cloud 300, such as location information, information about the traversable space, etc., and the cloud can further provide information to the electronic device 100.

[0156] Continuing with FIG13 , another positioning method provided by an embodiment of the present application is exemplarily introduced. Optionally, the method can be applied to the electronic device 100 and the vehicle 200 described in FIG12 . It should be understood that for the convenience of description, the description is given in the order of S1301 to S1306, and it is not intended to limit the execution to the above order. The embodiment of the present application does not limit the order of execution, execution time, number of executions, etc. of the above one or more steps. Steps S1301 to S1306 are as follows:

[0157] Step S1301: The vehicle obtains a second image.

[0158] For example, vehicle 200 (referred to as the first vehicle) may include a visual sensor, such as a camera, radar, or lidar. Using the visual sensor, vehicle 200 may capture a second image. Alternatively, the second image may include one (or a frame) or multiple (or a frame) images, or may also include video data.

[0159] Step S1302: When the second screen matches the entrance screen of the first movable space, the vehicle sends indication information of the first movable space to the electronic device.

[0160] Specifically, the traversable space may include an entrance. A view of the entrance may be pre-set on the first vehicle or obtained by the first vehicle via a network. The first vehicle may match the captured image with the image of the entrance to the traversable space. If the captured image matches the image of the entrance to the traversable space, it indicates that the first vehicle has passed through the entrance to the traversable space, and information indicating the traversable space is provided to the electronic device. Optionally, matching can be performed by extracting spatial elements from the two images, or by matching image features.

[0161] Please refer to Figure 14, which is a schematic diagram of a scene in which a vehicle enters an underground garage, provided in an embodiment of the present application. The underground garage can be regarded as a first traversable space. Before the vehicle enters the underground garage, the captured image can be continuously matched with the entrance images of one or more traversable spaces, and the indication information of the traversable space whose entrance image can match the second image is provided to the electronic device. In conjunction with Figure 14, the entrance image is the entrance image of "XX Shopping Mall Parking Lot". At this time, the first vehicle can provide the indication information of "XX Shopping Mall Parking Lot" to the electronic device.

[0162] In one possible implementation, the first vehicle may first determine the nearby traversable space through location information, so that the matching accuracy is higher. The location information may include one or more of longitude information, latitude information, altitude information, geo-fence information, map tile ID, address information, administrative division information, etc. As a possible implementation, the first vehicle obtains the location information of the first vehicle, and determines the entrance screen of at least one traversable space to be matched based on the location of the first vehicle, such as the entrance screen of garage 1, garage 2, and garage 3. It should be understood that a traversable space may include multiple entrances, and this application does not limit this. During matching, the first vehicle matches the captured second screen with the entrance screen of at least one traversable space to determine the first traversable space that matches the second screen. For example, the second screen may match the entrance screen of garage 1.

[0163] In some scenarios, the entrance to the traversable space has a certain slope. When the vehicle enters the entrance to the traversable space, its altitude may change. The first vehicle can determine whether the user has entered the traversable space based on the altitude change.

[0164] Furthermore, the first vehicle can determine the traversable space it has entered by combining the altitude change and the entrance image. In some possible implementations, the first vehicle can also obtain the vertical heights of the entrances to one or more traversable spaces, detect the altitude change of the first vehicle, and transmit information indicating the first traversable space to the electronic device when the second image matches the image of the entrance to the first traversable space and the absolute value of the difference between the altitude change of the first vehicle and the vertical height of the entrance to the first traversable space is less than a preset threshold. The preset threshold here can be predefined, for example, less than or equal to half the vertical height of the entrance to the first traversable space.

[0165] In the above embodiment, when the absolute value of the difference between the vehicle's altitude change and the vertical height of the entrance to the first traversable space is less than a preset threshold, it indicates that the vehicle is highly likely to have entered the first traversable space. The vehicle can then indicate the first traversable space to the electronic device, thereby improving the matching efficiency of the electronic device during subsequent positioning. Continuing with FIG14 , the height difference at the entrance to the underground garage shown in FIG14 can be represented as z1. When the second image captured by the vehicle matches the image of the entrance to the "XX Shopping Mall Parking Lot," and the vehicle's altitude change also matches z1 while facing the entrance, for example, if the change is the same as z1 or the difference is less than a preset threshold, it indicates that the first vehicle has entered the "XX Shopping Mall Parking Lot." At this point, a user may subsequently get off the vehicle in the XX Shopping Mall Parking Lot and enter the mall, and may subsequently need to locate the first vehicle in the parking lot, thus requiring positioning and searching for the vehicle in the parking lot. In this case, the first vehicle indicates the parking lot it has entered to the electronic device, allowing the image captured by the electronic device to be directly matched to the map of the "XX Shopping Mall Parking Lot," significantly reducing matching efficiency.

[0166] Accordingly, the electronic device can receive the indication information of the first movable space from the first vehicle. Optionally, the transmission here can be direct or indirect. For example, after the vehicle 200 sends the indication information of the first movable space to the cloud 300, the cloud 300 sends the indication information of the first movable space to the electronic device 100.

[0167] Step S1303: The electronic device obtains a three-dimensional map of the first traversable space.

[0168] For example, a plurality of three-dimensional maps of movable spaces are pre-set in the electronic device, and the three-dimensional map of the first movable space can be acquired through the indication information of the first movable space.

[0169] For another example, the electronic device may download a three-dimensional map of the first traversable space from the cloud in advance using the indication information of the first traversable space.

[0170] Step S1304: The electronic device obtains a first picture.

[0171] Step S1305: The electronic device obtains a first position according to the first image and the three-dimensional map of the first movable space.

[0172] Optionally, the electronic device may also obtain the direction of the electronic device based on the first picture and the three-dimensional map of the first movable space.

[0173] Step S1306: The electronic device displays the first interface.

[0174] The first interface is used to indicate the position of the first position in the first traversable space.

[0175] Furthermore, the electronic device may also display a second interface, where the second interface is used to indicate a route from the first location to a destination point, where the destination point may include the location of the first vehicle or another location selected by the user.

[0176] It should be understood that steps S1303 to S1306 can refer to the relevant descriptions in the aforementioned steps S301 to S304 and will not be repeated here.

[0177] The above describes in detail the method and electronic device of the embodiments of the present application. The following provides some devices of the embodiments of the present application.

[0178] It should be understood that the division of units in the devices provided in the following embodiments is merely a division of logical functions, and in actual implementation, they may be fully or partially integrated into a single physical entity, or they may be physically separated. In addition, the units in the device may be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and the memory stores instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit of the device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory within the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), which realizes the functions of some or all of the above units by designing the logical relationship of the components in the circuit. For another example, in another implementation, the hardware circuit can be implemented by a programmable logic device (PLD). Taking a field programmable gate array (FPGA) as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by configuring the configuration file, thereby realizing the functions of some or all of the above units. All units of the above devices can be implemented in the form of software called by the processor, or in the form of hardware circuits, or in part by the form of software called by the processor, and the rest by hardware circuits.

[0179] In an embodiment of the present application, a processor is a circuit with a signal processing capability. In one implementation, the processor may be a circuit with an instruction reading and execution capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit may be fixed or reconfigurable, such as a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration may be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0180] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0181] In addition, the various units in the above devices can be fully or partially integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the device. The type of the at least one processor can be different, for example, including a CPU and FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0182] Several possible arrangements are listed below.

[0183] Please refer to Figure 15, which is a schematic diagram of the structure of a positioning device provided in an embodiment of the present application. Optionally, the positioning device 1500 can be an independent device, such as an electronic device. Alternatively, the positioning device 1500 can also be a component in an electronic device, such as a chip or integrated circuit.

[0184] The positioning device 1500 is used to implement the aforementioned positioning method, such as the method implemented by the electronic device 100 in the embodiments shown in Figures 3 or 13. In one possible implementation, the positioning device 1500 includes a processing unit 1501, an acquisition unit 1502, and a display unit 1503, and optionally also includes a communication unit 1504. The processing unit 1501 is used to implement the determination, calculation, generation, and matching operations in the aforementioned method. The processing unit 1501 can also receive multiple input data (such as a first image or multiple spatial maps), or can also output one or more processed data (such as a first location or a first image). The acquisition unit 1502 is used to acquire an image. For example, the acquisition unit can include a capturing unit. The image is captured by the capturing unit. The capturing unit can be implemented by one or more of a camera (or camera), radar, laser radar, etc. The display unit 1503 is used to display the image. For example, the display unit 1503 can be a display screen. The communication unit 1504 is used to implement functions such as receiving and sending, enabling communication between the positioning device 1500 and other devices.

[0185] As a possible implementation, the processing unit 1501 and / or the communication unit 1504 is used to obtain a three-dimensional map of the first movable space, the acquisition unit 1502 is used to obtain a first screen, and the processing unit 1501 is also used to obtain a first position of the electronic device in the first movable space based on the first screen and the three-dimensional map of the first movable space.

[0186] Furthermore, the display unit 1503 is configured to display a first interface, where the first interface includes a view of the first travel space and a position of the first position in the view of the first travelable space.

[0187] In some implementations, the three-dimensional map of the first traversable space is obtained by fusing visual information collected by devices that have traveled in the first traversable space.

[0188] In some implementations, the communication unit 1504 is further configured to receive indication information of the first traversable space from the first vehicle.

[0189] In some implementations, the communication unit 1504 is further configured to obtain indication information of the first traversable space from the cloud.

[0190] In some implementations, the communication unit 1504 is further configured to detect a network environment of the electronic device.

[0191] In some implementations, the processing unit 1501 is further configured to match the spatial elements in the first image with the spatial elements in the three-dimensional map of the first traversable space to determine a hit spatial element, and to determine the first position of the electronic device in the traversable space based on the position of the hit spatial element in the three-dimensional map of the first traversable space. Furthermore, the processing unit 1501 is further configured to extract the spatial elements in the first image.

[0192] In some implementations, the three-dimensional map of the first traversable space includes multiple images taken from multiple perspectives. The processing unit is further configured to:

[0193] The direction of the electronic device in the three-dimensional map of the first movable space is determined according to the first screen and the three-dimensional map of the first movable space.

[0194] In some implementations, the three-dimensional map of the first traversable space includes multiple images taken from multiple perspectives. The processing unit is further configured to:

[0195] determining a target image that matches the first picture according to the first picture and the three-dimensional map of the first movable space;

[0196] The orientation of the electronic device in the three-dimensional map of the first movable space is determined according to the first viewing angle corresponding to the target image.

[0197] In some implementations, the first interface further includes the orientation of the electronic device in the traversable space.

[0198] In some implementations, processing unit 1501 is further configured to determine a destination point, where the destination point is located in the first traversable space. Display unit 1503 is further configured to display a second interface, where the second interface includes a view of the first traversable space and a navigation route from the first location to the destination point. Optionally, the destination point is the parked location of the first vehicle.

[0199] In some implementations, the positioning device further includes an input interface, and the processing unit 1501 is configured to receive an operation instruction input by a user through the input interface, wherein the operation instruction indicates the destination point.

[0200] Please refer to Figure 16, which is a schematic diagram of the structure of a positioning device provided in an embodiment of the present application. Optionally, the positioning device 1600 can be an independent device, such as a vehicle. Alternatively, the positioning device 1600 can also be a component in an independent device, such as a chip or integrated circuit.

[0201] The positioning device 1600 is used to implement the aforementioned positioning method, such as the method implemented by vehicle 200 in the embodiments shown in Figures 3 or 13. In one possible implementation, the positioning device 1600 includes a processing unit 1601, an acquisition unit 1602, and a communication unit 1603. The processing unit 1601 is used to implement the determination, calculation, generation, matching, and other operations in the aforementioned method. The processing unit 1601 can also receive multiple input data (such as a second screen, a location, or multiple entrance screens of traversable spaces, etc.), or can also output one or more processed data (such as outputting indication information of traversable spaces, etc.). The acquisition unit 1602 is used to acquire the screen. The acquisition unit 1602 can include one or more of a camera (or camera), radar, laser radar, etc. The communication unit 1603 is used to implement functions such as receiving, sending, or acquiring, and can enable communication between the positioning device 1600 and other devices.

[0202] As a possible implementation, acquisition unit 1602 is configured to acquire the second image, processing unit 1601 is configured to determine that the second image matches the entrance image of the first traversable space, and communication unit 1603 is configured to transmit information indicating the first traversable space to the electronic device. The electronic device is associated with the first vehicle, and the electronic device indicating the first traversable space is located within a three-dimensional map of the first traversable space. The three-dimensional map of the first traversable space is used to indicate the three-dimensional image of the first traversable space.

[0203] In some implementations, the processing unit 1601 and / or the communication unit 1603 is further used to obtain the position of the first vehicle, and the processing unit 1601 is further used to determine the entrance screen of at least one traversable space to be matched based on the position of the first vehicle, and the at least one traversable space includes the first traversable space.

[0204] In some implementations, processing unit 1601 and / or communication unit 1603 obtains the vertical height of the entrance to the first movable space. Processing unit 1601 is further configured to detect a change in the altitude of the first vehicle. Communication unit 1603 is further configured to transmit information indicating the first movable space to the electronic device when the second image matches the image of the entrance to the first movable space and the absolute value of the difference between the change in the vehicle's altitude and the vertical height of the entrance to the first movable space is less than a preset threshold.

[0205] The embodiment of the present application also provides a terminal, which is a movable terminal that includes the aforementioned positioning device 1600. Exemplarily, the movable terminal can be an intelligent terminal or a vehicle such as a vehicle, a robot, a drone, a ship, or a ship. Among them, the vehicle is a vehicle in a broad sense, which can be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural equipment (such as a mower, a harvester, etc.), etc. For another example, the robot can be an intelligent handling robot (Automated Guided Vehicle, AGV), a walkable conversational robot, a service robot, and other robots.

[0206] An embodiment of the present application also provides a vehicle, comprising a memory and a processor, wherein the memory is used to store program instructions; when the processor executes the program instructions in the memory, the vehicle executes the positioning method in the embodiment shown in FIG13 .

[0207] An embodiment of the present application further provides a positioning system, which includes an electronic device and a vehicle, wherein the electronic device is used to implement the method on the electronic device 100 side of the embodiment shown in FIG13 , and the vehicle is used to implement the method on the vehicle 200 side of the embodiment shown in FIG13 .

[0208] An embodiment of the present application further provides a chip comprising a logic circuit and a communication interface. The communication interface is configured to receive or transmit signals, and the logic circuit is configured to receive or transmit signals via the communication interface. The chip is configured to implement the aforementioned positioning methods, such as those shown in Figures 3 or 13.

[0209] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions. When the instructions are executed on at least one processor (or communication device), the aforementioned positioning method, such as the positioning method shown in FIG. 3 or FIG. 13 , is implemented.

[0210] An embodiment of the present application further provides a computer program product, which includes computer instructions, and the computer instructions are used to implement the aforementioned positioning method, such as the positioning method shown in Figure 3 or Figure 13.

[0211] It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0212] In the embodiments of this application, "at least one" refers to one or more, and "more" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items.

[0213] For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or plural. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, A and / or B can represent: A alone, A and B together, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0214] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish multiple objects and are not used to define the order, timing, priority, or importance of multiple objects. For example, the terms "first node" and "second node" are merely used to facilitate the description of new parameters in different implementations and do not indicate differences in their execution operations, importance, structure, etc.

[0215] In the above embodiments, the term "when" can be interpreted to mean "if...", "after...", "in response to determining...", or "in response to detecting...", depending on the context. The above are merely optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the concepts and principles of the present application shall be included in the scope of protection of the present application.

[0216] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

Claims

1. A positioning method, characterized in that: Applied to electronic equipment, the method comprises: Acquire a three-dimensional map of a first movable space, where the first movable space is used to accommodate the movable object to move, and the three-dimensional map of the first movable space is used to indicate a three-dimensional picture of the first movable space; Get the first picture; Obtaining a first position of the electronic device in the first movable space according to the first picture and the three-dimensional map of the first movable space; A first interface is displayed, the first interface including a view of the first travelable space and a position of the first position in the view of the first travelable space.

2. The method according to claim 1, characterized in that: The three-dimensional map of the first movable space is obtained by fusing visual information collected by vehicles that have traveled in the first movable space.

3. The method according to claim 1 or 2, characterized in that: The first drivable space is located underground, or the first drivable space is located inside a building.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Indication information of a first movable space is received from a first vehicle, the first vehicle is associated with the electronic device, and the first movable space is a movable space entered by the first vehicle.

5. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Indication information of a first movable space is obtained from a cloud, where the first movable space is a movable space where a first vehicle is located, and the first vehicle is associated with the electronic device.

6. The method according to claim 5, characterized in that The method further comprises: Before acquiring the three-dimensional map of the first traversable space, detecting the network environment of the electronic device; When the network environment where the electronic device is located is normal, the step of "obtaining indication information of the first movable space from the cloud" is executed.

7. The method according to any one of claims 1 to 6, characterized in that: The obtaining, according to the first picture and the three-dimensional self-constructed map of the first movable space, a first position of the electronic device in the first movable space includes: Extracting spatial elements in the first picture; Matching the spatial elements in the first picture with the spatial elements in the three-dimensional map in the first movable space to determine the hit spatial elements; According to the position of the hit spatial element in the three-dimensional map of the first movable space, the first position of the electronic device in the movable space is determined.

8. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: According to the first picture and the three-dimensional map of the first movable space, the direction of the electronic device in the three-dimensional map of the first movable space is obtained.

9. The method according to claim 8, characterized in that The three-dimensional map of the first traversable space includes a plurality of images taken from a plurality of perspectives, and the method further comprises: Determining a target image matching the first picture based on the first picture and the three-dimensional map of the first movable space; The orientation of the electronic device in the three-dimensional map of the first movable space is determined according to a first viewing angle corresponding to the target image.

10. The method according to claim 8, characterized in that The first interface also includes the orientation of the electronic device in the movable space.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: Determine a destination point, wherein the destination point is located in the first traversable space; A second interface is displayed, wherein the second interface includes a view of the first traversable space and a navigation route from the first location to the target point.

12. The method according to claim 11, characterized in that The method further comprises: An operation instruction input by a user is received, where the operation instruction indicates the destination point.

13. The method according to claim 11 or 12, characterized in that: The destination point is the parking position of the first vehicle.

14. A positioning method, characterized in that: The method is applied to a first vehicle, and the method comprises: Get the second picture; When the second screen matches the entrance screen of the first movable space, sending indication information of the first movable space to the electronic device; The electronic device is associated with the first vehicle, and the indication information of the first movable space is used to locate the electronic device in a three-dimensional map of the first movable space, and the three-dimensional map of the first movable space is used to indicate a three-dimensional picture of the first movable space.

15. The method according to claim 14, characterized in that The method further comprises: Obtaining the vertical height of the entrance of the first traversable space; detecting a change in altitude of the first vehicle; The sending, when the second screen matches the entrance screen of the first movable space, indication information of the first movable space to the electronic device includes: When the second picture matches the entrance picture of the first movable space and the absolute value of the difference between the altitude change of the vehicle and the vertical height of the entrance of the first movable space is less than a preset threshold, indication information of the first movable space is sent to the electronic device.

16. A positioning system, characterized in that: The positioning system comprises an electronic device and a vehicle, The positioning system is used to locate the position of the electronic device in the first movable space; The electronic device is used to implement the method according to any one of claims 1 to 13; The vehicle is used to implement the method according to claim 14 or 15.

17. A positioning device, characterized in that: The positioning device is applied to an electronic device having an image sensor and a display module, the positioning device comprises an acquisition unit, a processing unit and a display unit, and the positioning device is used to implement the method described in any one of claims 1-13.

18. A positioning device, characterized in that: The positioning device is applied to a vehicle having an image sensor, and the positioning device comprises an acquisition unit, a processing unit and a communication unit. The positioning device is used to implement the method described in claim 14 or 15.

19. An electronic device, characterized in that: The electronic device includes an image sensor, a display module, a memory and a processor, wherein the memory is used to store program instructions; When the processor executes the program instructions in the memory, the electronic device performs the method according to any one of claims 1 to 13.

20. A vehicle, characterized in that: The vehicle comprises an image sensor, a communication module, a processor and a memory, wherein the memory is used to store program instructions; When the processor executes the program instructions in the memory, the vehicle performs the method of claim 14 or 15.

21. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions, and the program instructions are used to implement the method according to any one of claims 1 to 13, or to implement the method according to claim 14 or 15.

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