WO2020098431A1 - Method and device for establishing map model - Google Patents

Abstract

A method and device for establishing a map model. The method comprises: by receiving first dimension information, second dimension information, and third dimension information sent by a first terminal device, a server can associate the position, image information, and description information of any of a plurality of target time points to obtain feature information of the target time point, thereby establishing a map model. Because the server establishes the map model according to data of a plurality of dimensions acquired by the first terminal device, and the first terminal device does not need to perform communication interaction with other hardware devices (for example, an access point device) when acquiring the data of the plurality of dimensions, no other hardware device is required to be deployed in a building, so that hardware costs can be effectively reduced.

Description

Method and device for constructing map model

Cross-reference of related applications

This application requires the priority of the Chinese patent application filed on November 14, 2018 in the Chinese Patent Office, with the application number 201811352271.8 and the application name as "a method and device for constructing a map model", the entire contents of which are incorporated herein by reference Applying.

Technical field

The present invention relates to the field of communication technology, and in particular, to a method and device for constructing a map model.

Background technique

At this stage, with the rapid development of communication technology, various indoor navigation technologies are becoming more and more widely used, for example, indoor navigation technologies based on wireless local area networks (WIFI) and indoor navigation technologies based on Bluetooth. In indoor navigation technology, it is usually necessary to construct a map model corresponding to the building in advance, and plan a navigation route for the user based on the map model. Therefore, how to quickly build a map model is an important development direction in the field of indoor navigation technology.

When building a map model, a large number of hardware devices are usually deployed in the building. Taking WIFI-based indoor navigation technology as an example, by deploying a large number of access point devices in the building, by using detection devices (such as mobile phones) and The access point device communicates, and then collects WIFI signals on various paths in the building, and builds a map model corresponding to the building based on the collected WIFI signals. With this method, the cost of building a map model is higher due to the need to deploy hardware devices in the building.

In summary, there is currently a need for a navigation method to solve the technical problem of higher cost when constructing a map model in the prior art.

Summary of the invention

Embodiments of the present application provide a method and a device for constructing a map model, to solve the technical problem of high cost when constructing a map model in the prior art.

A method for constructing a map model provided by an embodiment of the present application, the method includes:

The server receives the first dimension information, the second dimension information, and the third dimension information sent by the first terminal device, where the first dimension information includes the first terminal device's record of holding the first Movement trajectory information of a first user of a terminal device in a building, and the second dimension information includes a video obtained by the first terminal device shooting a scene around the first user during the first time period Information, the third dimension information includes description information input by the first user received by the first terminal device at multiple time points within the first time period;

The server selects multiple target time points from multiple time points in the first time period;

The server determines the location of the first user at the plurality of target time points according to the first dimension information; extracts image information corresponding to the plurality of target time points according to the second dimension information; Determine the description information corresponding to the multiple target time points according to the third dimension information;

For each target time point of the plurality of target time points, the server compares the position of the first user at the target time point, the image information corresponding to the target time point, and the target time The description information corresponding to the point is associated to obtain the characteristic information of the target time point;

The server constructs a map model of the building according to the characteristic information of the plurality of target time points.

Optionally, the method further includes:

The server receives first information sent by a second terminal device, where the first information includes the second terminal device photographing a scene around a second user holding the second terminal device within a second time period The obtained video information and the description information input by the second user received by the second terminal device at multiple time points in the second time period;

Based on the first information, the server obtains image information corresponding to multiple time points in the second time period and description information corresponding to multiple time points in the second time period;

For each time point in the plurality of time points in the second time period, the server corresponds the description information corresponding to the time point to the plurality of target time points in the map model of the building The description information is matched, and after the matching is successful, the image information corresponding to the time point and the image information corresponding to the target time point where the matching is successful are superimposed, thereby obtaining an updated map model.

Optionally, the method further includes:

The server receives second information sent by a third terminal device, where the second information includes image information and / or description information corresponding to the first location;

The server matches the first location with locations corresponding to the multiple target time points in the map model of the building, and after the matching is successful, matches the image information corresponding to the target time point and / or Or the description information is updated to the image information and / or description information corresponding to the first position.

Optionally, the method further includes:

The server receives first image information and / or first description information sent by a fourth terminal device, and combines the first image information and / or first description information with the plurality of map models of the building Match the image information and / or description information corresponding to the target time point, and after the matching is successful, determine the position corresponding to the target time point where the match is successful as the first position;

The server receives second image information and / or second description information sent by a fourth terminal device, and combines the second image information and / or second description information with the plurality of map models of the building The image information and / or description information corresponding to the target time point is matched, and after the matching is successful, the position corresponding to the target time point of the successful match is determined as the second position;

Generate a navigation route from the first location to the second location.

A method for constructing a map model provided by an embodiment of the present application, the method includes:

The first terminal device generates first dimension information, second dimension information, and third dimension information, where the first dimension information includes the record held by the first terminal device within the first period of time The movement trajectory information of the first user in the building, the second dimension information includes video information obtained by the first terminal device shooting the scene around the first user in the first time period, so The third dimension information includes description information input by the first user and received by the first terminal device at multiple time points in the first time period;

The first terminal device sends the first dimension information, the second dimension information, and the third dimension information to a server, so that the server constructs a map model of the building.

A server provided by an embodiment of the present application, the server includes:

The transceiver module is configured to receive the first dimension information, the second dimension information, and the third dimension information sent by the first terminal device, where the first dimension information includes a record recorded by the first terminal device within a first time period There is movement trajectory information of the first user of the first terminal device in the building, and the second dimension information includes the scene around the first user by the first terminal device during the first time period Video information obtained by shooting, the third dimension information includes description information input by the first user received by the first terminal device at multiple time points within the first time period;

The processing module is configured to: select a plurality of target time points from a plurality of time points in the first time period, and determine the first user at the plurality of target time points according to the first dimension information The location where the image information corresponding to the multiple target time points is extracted based on the second dimension information, and the description information corresponding to the multiple target time points is determined based on the third dimension information; For each target time point of the plurality of target time points, the position of the first user at the target time point, the image information corresponding to the target time point, and the description information corresponding to the target time point Perform correlation to obtain feature information of the target time point, and then construct a map model of the building according to the feature information of the multiple target time points.

Optionally, the transceiver module is further configured to: receive first information sent by a second terminal device, where the first information includes the second terminal device holding the second terminal device within a second time period Video information obtained by shooting the scene around the second user and the description information input by the second user received by the second terminal device at multiple time points in the second time period;

The processing module is further configured to: according to the first information, obtain image information corresponding to multiple time points in the second time period and description information corresponding to multiple time points in the second time period; For each time point in the plurality of time points in the second time period, the description information corresponding to the time point is performed with the description information corresponding to the plurality of target time points in the map model of the building After matching, and after the matching is successful, the image information corresponding to the time point and the image information corresponding to the target time point where the matching is successful are superimposed, thereby obtaining an updated map model.

Optionally, the transceiver module is further configured to: receive second information sent by a third terminal device, where the second information includes image information and / or description information corresponding to the first location;

The processing module is further configured to: match the first location with locations corresponding to the plurality of target time points in the map model of the building, and after the match is successful, correspond to the target time point where the match is successful The image information and / or description information of is updated to the image information and / or description information corresponding to the first position.

Optionally, the transceiver module is further configured to: receive first image information and / or first description information sent by a fourth terminal device and second image information and / or second description information sent by a fourth terminal device;

The processing module is further configured to match the first image information and / or first description information with the image information and / or description information corresponding to the multiple target time points in the map model of the building, After the matching is successful, the location corresponding to the target time point of the successful matching is determined as the first location; and the second image information and / or the second description information and the plurality of targets in the map model of the building The image information and / or description information corresponding to the time point is matched, and after the matching is successful, the position corresponding to the target time point at which the match is successful is determined as the second position; further, the position from the first position to the second position is generated Navigation route.

A terminal device provided by an embodiment of the present application, the terminal device includes:

A generating module, configured to generate first dimension information, second dimension information, and third dimension information, where the first dimension information includes the first user holding the terminal device recorded by the terminal device within a first time period Movement trajectory information in the building, the second dimension information includes video information obtained by the terminal device shooting the scene around the first user during the first time period, and the third dimension information Including description information input by the first user received by the terminal device at multiple time points within the first time period;

The transceiver module is configured to send the first dimension information, the second dimension information, and the third dimension information to a server, so that the server constructs a map model of the building.

In the above embodiments of the present invention, the server receives the first dimension information, second dimension information, and third dimension information sent by the first terminal device, and selects multiple targets from multiple time points within the first time period After the time point, you can determine the location of the first user at multiple target time points based on the first dimension information, and at the same time extract image information corresponding to multiple target time points based on the second dimension information, and based on the third dimension information, Determine the description information corresponding to multiple target time points; further, the server can associate the location, image information, and description information of any target point in the multiple target time points to obtain the characteristic information of the target time point, and according to Characteristic information of multiple target time points to build a map model of the building. In the embodiment of the present application, the server receives the first dimension information, the second dimension information, and the third dimension information sent by the first terminal device, and constructs a map model. In other words, the server builds a map model based on the data of multiple dimensions collected by the first terminal device, because the first terminal device does not need to communicate with other hardware devices (such as access point devices) when collecting data of multiple dimensions Interaction, so there is no need to deploy other hardware devices in the building, which can effectively reduce hardware costs.

This application provides a computing device, which includes:

Processor, memory, transceiver, bus interface; among them, the processor, memory and transceiver are connected by bus;

The processor is used to read the program in the memory and execute the above method of constructing a map model;

The memory is used to store one or more executable programs, and can store data used by the processor when performing operations.

The present application provides a non-transitory computer-readable storage medium, in which instructions are stored in a computer storage medium, which when executed on a computer, causes the computer to execute the above method for constructing a map model.

The present application provides a computer program product containing instructions, which when executed on a computer, causes the computer to execute the above method for constructing a map model.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the invention Those of ordinary skill in the art can obtain other drawings based on these drawings without paying any creative labor.

1 is a schematic diagram of a possible application scenario provided by an embodiment of this application;

2 is a schematic flowchart of a method corresponding to a method for constructing a map model provided in an embodiment of this application;

3 is a schematic flowchart of a navigation method provided in an embodiment of the present application;

4 is a schematic diagram of a navigation path corresponding to a navigation method provided in an embodiment of the present application;

FIG. 5 is a schematic flowchart of a navigation method provided in an embodiment of the present application;

6 is a schematic structural diagram of a server provided by an embodiment of the present application;

7 is a schematic structural diagram of a terminal device according to an embodiment of this application;

8 is a schematic structural diagram of a computer device provided by this application.

detailed description

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present invention.

The method provided by the embodiment of the present application may be applicable to a variety of possible scenarios, especially suitable for indoor navigation scenarios, such as providing navigation services for users in a building.

FIG. 1 is a schematic diagram of a possible application scenario provided by an embodiment of the present application. The area illustrated in FIG. 1 may refer to an area on one floor of a building (referred to as building a for convenience of description). In an example, the building a may be a shopping mall, and a certain floor may be provided with multiple shops, such as shop A to shop H. Among them, shop A, shop B, shop C, shop D and shop E may be located at different positions on one side of the corridor 100, and shop F, shop G and shop H may be located at different positions on the other side of the corridor 100.

It should be noted that FIG. 1 is a schematic diagram of a floor area in a building. In other possible scenarios, there may be multiple floor areas, or may include multiple buildings, each The building may include an area with multiple floors, which is not limited in the embodiments of the present application.

FIG. 2 is a schematic flowchart of a method corresponding to a method for constructing a map model provided in an embodiment of the present application. In the embodiment of the present application, the server may pre-construct map models corresponding to multiple buildings for multiple buildings that may need to provide navigation services in advance. The following only uses the building a illustrated in FIG. 1 as an example to introduce an implementation method of constructing a map model corresponding to the building a. The method includes:

Step 201: The first terminal device generates first dimension information, second dimension information, and third dimension information.

Here, the first dimension information may include the movement trajectory information of the first user holding the first terminal device in the building recorded by the first terminal device within the first time period, and the second dimension information may include the first terminal device Video information obtained by shooting the scene around the first user during the first time period, and the third dimension information may include a description of the first user input received by the first terminal device at multiple time points within the first time period information. Wherein, the first time period may be a time period from the start of the exercise to the end of the exercise of the first user in the building.

In the embodiment of the present application, the first dimension information, the second dimension information, and the third dimension information may be generated in various ways. A possible implementation manner is that the first user holds the first terminal device (for example, a mobile phone, a tablet computer, etc.) and moves along the corridor 100 of the building a. The direction of the movement may be clockwise or reverse The hour hand, and thus the first terminal device may generate first dimension information, second dimension information, and third dimension information based on the movement state of the first user.

Specifically, the first terminal device may be provided with a pedometer and a magnetometer. During the movement of the first user, the first terminal device may record the number of movement steps of the first user through the pedometer, and may use the magnetic force The meter collects the movement direction of the first user. Further, the first terminal device can determine the movement distance of the first user according to the movement steps of the first user, and then can obtain the first user in the building a according to the movement distance of the first user and the movement direction of the first user The movement trajectory information (ie the first dimension information) within. In the embodiment of the present application, the movement trajectory information of the first user may be represented by coordinates, or may be represented by the distance and direction of the first user from the initial position, or may be set by a person skilled in the art according to actual conditions. Not limited. For example, the first terminal device records that the first user walks 10 steps forward and 6 steps to the left to reach the current position. According to the first user's stride (assumed to be 64 cm), the first terminal device can determine the first A user walks 650 centimeters forward and 650 centimeters to the right. From this, it can be determined that the current position of the first user is 45 degrees to the front right of the initial position and 916 centimeters away from the initial position.

Further, the first terminal device may be provided with a shooting device (for example, a camera). During the movement of the first user, the shooting device may always be aimed at a store on one side, so that the shooting device may shoot the surroundings of the first user in real time Scene, get video information (ie, second dimension information). When the first user passes a key location in the building a (for example, a shop), the first user can also introduce the current scene of the first user through voice input or text input to obtain descriptive information (ie, third-dimensional information) . For example, when passing the shop a, the first user can input the voice "here is shop a" to the first terminal device through the microphone, or the first user can also enter "shop a" in the text box of the first terminal device And other text messages.

It should be noted that during the movement of the first user holding the first terminal device, the first user's stride can be maintained at about 65 cm, and the first user does not turn around at will during the exercise, thereby ensuring that the first terminal device does not occur Large shaking.

Step 202: The first terminal device sends the first dimension information, the second dimension information, and the third dimension information to the server.

Here, the first terminal device may communicate with the server in various ways, for example, in a wired (eg, network cable, optical fiber, etc.) manner to communicate with the server, which is not limited in this embodiment of the present application.

In the embodiment of the present application, the first terminal device may send the first dimension information, the second dimension information, and the third dimension information (that is, the information to be collected during the movement of the first user) to the server in real time Send it to the server in real time), or you can send the first dimension information, the second dimension information, and the third dimension information to the server after the first time period (that is, all the information collected after the first user's exercise ends Sent to the server), this embodiment of the present application does not limit this.

Step 203: The server selects multiple target time points from multiple time points within the first time period, and determines the location of the first user at the multiple target time points based on the first dimension information; based on the second dimension information, Extract image information corresponding to multiple target time points; determine description information corresponding to multiple target time points based on the third dimension information.

In an example (for convenience of description, referred to as Example 1 for short), the first user moves along the corridor side in the building a, the time to start the exercise is 10:00, and the time to stop the exercise is 10:30, then the A period of time (ie, the total duration of the first user's movement) may be a period of 10: 00-10: 30. The first dimension information may include the movement trajectory information of the first user holding the first terminal device in the building recorded by the first terminal device within the time period of 10: 00-10: 30, and the second dimension information may include the A terminal device shoots video information obtained by shooting the scene around the first user within a time period of 10: 00-10: 30, and the third dimension information may include the time period of the first terminal device between 10: 00-10: 30 The description information input by the first user received at multiple time points within the time frame (for example, if the user inputs the voice "shop A" to the first terminal device at 10:25, the time point corresponding to the voice "shop A" may be 10 : 25).

Further, the server may select multiple target time points from multiple time points within the first time period. In a specific implementation, each of the multiple time points may be used as a target time point, or the number of target time points may be preset, and then multiple target time points may be selected from the multiple time points. For example, based on the scenario illustrated in Example 1, the number of target time points can be preset to 50, and the server can randomly select 50 time points from multiple time points that the first user enters description information as the target Time points, or multiple time points may be sorted in advance according to the importance of the description information input by the first user corresponding to each time point, and then 50 time points may be selected from the multiple time points as the target time point. In other possible implementation manners, other methods may be used to select multiple target time points from multiple time points, which is not limited in the embodiment of the present application.

In the embodiment of the present application, after selecting multiple target time points, the server may determine the location of the first user at the multiple target time points based on the first dimension information, and may extract multiple target times based on the second dimension information The image information corresponding to the point can also determine the description information corresponding to the multiple target time points according to the third dimension information; further, for each target time point among the multiple target time points, the server can locate the first user at The location of the target time point, the image information corresponding to the target time point, and the description information corresponding to the target time point are correlated to obtain the characteristic information of the target time point. The first target time point may be any target time point among a plurality of target time points. The following uses the first target time point as an example to describe the implementation process of obtaining the characteristic information of the first target time point. Other target time points can be referred to The first target time point is achieved.

Based on the scenario illustrated in Example 1, taking the first target time point as 10:05 as an example, the server may determine the first user at 10:05 according to the trajectory information of the first user in the time period of 10: 00-10: 30 The location within the building (for example, the resulting location is (100cm, 200cm, 450cm)). Specifically, the position may be represented by coordinates, or may be represented by other means (for example, by the distance and direction of the position from the initial position), or may be represented by a person skilled in the art according to actual conditions, This embodiment of the present application does not limit this.

Further, the server may extract image information at 10:05 (for example, the obtained image information is image x) from the video information within the time period of 10: 00-10: 30, and the image information may be a specific image The frame may also be a video containing multiple frames of images, which is not limited in this embodiment of the present application.

Correspondingly, the server can also obtain the description information input by the first user at 10:05 (for example, the description information is "shop A"), where the description information can be the voice information input by the first user, or It can also be text information input by the first user, or other information with a description function. It should be noted that, if the description information is voice information input by the first user, the server may also convert the voice information into text information, for example, the voice information may be converted through fuzzy matching and / or keyword matching.

Step 204: For each target time point among the multiple target time points, the server associates the position of the first user at the target time point, the image information corresponding to the target time point, and the description information corresponding to the target time point to obtain Feature information at the target time.

In the embodiment of the present application, the server may associate the position of the first user at the first target time point, the image information corresponding to the first target time point and the description information corresponding to the first target time point to obtain the first target time point Characteristic information. According to the above example, the server may determine that the first user may be located in shop A at 10:05, and the position of shop A may be (100cm, 200cm, 450cm), and the image of shop A may be image x, that is, 10:05 The characteristic information of the target time point is shop A, (100cm, 200cm, 450cm) and image x.

Step 205: The server constructs a map model of the building according to the feature information of multiple target time points.

In the embodiment of the present application, the server may construct a map model of building a according to the feature information of multiple target time points, that is to say, the constructed map model of building a may include multiple target time points and multiple targets Characteristic information of each target time point in the time point. In an example, if the first user enters the first terminal device using the name of the store as description information when passing through each store, the map model of building a may include the name of the store, the image of the store, and the location of the store .

In the embodiment of the present application, after successfully constructing the map model of building a, the server may also improve the accuracy of the map model in various ways. In a possible implementation, the server may receive the first data sent by the second terminal device. Information, and update the map model of building a according to the first information. Wherein, the first information may include video information obtained by the second terminal device shooting the scene around the second user holding the second terminal device in the second time period and how much the second terminal device is in the second time period Descriptive information input by the second user received at a point in time. In a specific implementation, the server may obtain image information corresponding to multiple time points in the second time period and description information corresponding to multiple time points in the second time period based on the first information. For each time point in multiple time points in the second time period, the server may match the description information corresponding to the time point with the description information corresponding to multiple target time points in the map model of building a, and After the matching is successful, the image information corresponding to the time point and the image information corresponding to the target time point where the matching is successful can be superimposed to obtain an updated map model.

For example, the second user can hold the navigation path given by the second terminal device based on the map model and move along the other side of the corridor of the building a. At this time, the second terminal device can always aim at the other side. The shop shoots to obtain the video information, and the second user can input the description information (which may be voice information or text information) to the second terminal device when passing the key position (for example, the shop). Further, the second terminal device may send the video information and the description information to the server. After receiving the video information and the description information, the server can obtain the description information and the image information based on the method of step 203 (for example, the description information is "shop A" and the image information is image y), and can determine the "shop" in the determined map model. After the target time point corresponding to the description information of A ”is 10:05, add the image y to the feature information corresponding to the target time point of 10:05 to obtain the updated map model. That is to say, the feature information at the target time point of 10:05 in the updated map model is shop A, (100cm, 200cm, 450cm), image x, and image y.

In the embodiment of the present application, the server may update and adjust the map model when the environment changes. In one example, a third user may review the image information and / or description information corresponding to multiple locations in the map model. If the image information and / or corresponding to a certain location (eg, the first location) in the map model is found Or the description information is inconsistent with the image information and / or description information corresponding to the first location in the current environment, the third terminal device may retake the picture (ie, image information) corresponding to the first location and / or receive the third user ’s Voice or text (ie, description information) input at a location and sent to the server. Correspondingly, the server can receive the image information and / or description information corresponding to the first location sent by the third terminal device, and match the first location with locations corresponding to multiple target time points in the map model of the building, and match After success, the image information and / or description information corresponding to the target time point of the successful match is updated to the image information and / or description information corresponding to the first position.

In the embodiment of the present application, the server receives the first dimension information, the second dimension information, and the third dimension information sent by the first terminal device, and constructs a map model. In other words, the server builds a map model based on the data of multiple dimensions collected by the first terminal device, because the first terminal device does not need to communicate with other hardware devices (such as access point devices) when collecting data of multiple dimensions Interaction, so there is no need to deploy other hardware devices in the building, which can effectively reduce hardware costs. In addition, using the method in the embodiment of the present invention, when the environment of the building changes, the server can update the map model according to the multiple dimension information sent by the first terminal device or other terminal devices without rebuilding the map model, so that Save time, easy to operate, and reduce maintenance costs.

Based on the map model corresponding to the building constructed above, an embodiment of the present application provides a navigation method, which includes:

Acquiring first feature information and second feature information, and matching the first feature information and the second feature information with a preset map model respectively, where the preset map model includes feature information of multiple target time points;

Determine the current location of the user according to the position of the target time point corresponding to the feature information of the first feature information matching success, and according to the target time point of the feature information corresponding to the second feature information matching success Position determines the target position;

Generate a navigation route from the current location of the user to the target location.

The above navigation method can be directly executed by the server; or, it can also be executed by the terminal device. For example, the terminal device can download the map models corresponding to multiple buildings constructed by the server from the server in advance, and then execute the navigation in the embodiments of the present application method. The description will be made below in combination with Embodiment 1 and Embodiment 2 respectively.

Example one

In this embodiment, the navigation method may be executed by the server. FIG. 3 is a schematic flowchart of a navigation method according to an embodiment of the present application. As shown in FIG. 3, the method includes:

Step 301: After receiving the navigation information triggered by the fourth user, the fourth terminal device sends request information to the server, where the request information includes the identification of the building to be navigated.

Here, the fourth terminal device may be a device with a touchable display screen, and may display photos of multiple buildings or names of multiple buildings on the display screen. By perceiving the operation of the fourth user on the display screen, the fourth terminal device can generate request information and send the request information to the server. The request information includes the identification of the building corresponding to the operation of the fourth user (that is, the building to be navigated Identification of objects).

Step 302: The server receives the request information sent by the fourth terminal device, and determines the map model corresponding to the identifier of the building to be navigated according to the identifier of the building to be navigated included in the request information.

Here, the server may construct a map model corresponding to multiple buildings in advance, and after receiving the request message sent by the fourth terminal device, parse the request message to obtain the identification of the building to be navigated. According to the identification of the building to be navigated, the server may determine the map model corresponding to the identification of the building to be navigated from the map models corresponding to the multiple buildings. The map model corresponding to the building to be navigated may include feature information of multiple target time points.

Step 303: The fourth terminal device obtains the first characteristic information and the second characteristic information.

Here, after receiving the navigation information triggered by the fourth user, the fourth terminal device may also enable the shooting device to shoot the scene around the fourth user to obtain the first feature information. Specifically, the photographing device may photograph or video the scene around the current location of the fourth user. If the shooting device shoots a photo, the fourth terminal device can obtain the first image information according to the photo; if the shooting device shoots a video, the fourth terminal device can discretely process the video to obtain multiple pictures, and Select the most representative picture among multiple pictures as the first image information. For example, if the current location of the fourth user is around the shop C, the shooting device may include the shop C in the obtained picture or video when shooting the scene around the current location of the fourth user.

Further, the fourth terminal device may instruct the fourth user to input the information of the destination to obtain the second characteristic information. Specifically, the information of the destination input by the fourth user may be a photo of the destination uploaded by the fourth user, or may also be an identifier of the destination input by the fourth user. For example, if the destination that the fourth user wants to reach is shop F, the second characteristic information input by the fourth user may be the shop name of shop F, or it may be a photo containing shop F, which may be the fourth What users download from the Internet is not limited.

Step 304: The fourth terminal device sends the first feature information and the second feature information to the server.

Step 305: After receiving the first feature information and the second feature information, the server matches the first feature information and the second feature information with the map model corresponding to the identifier of the building to be navigated, and successfully matches the first feature information The location of the target time point is determined as the current location of the fourth user, and at the same time, the location of the target time point where the second feature information is successfully matched is determined as the target position.

In an example, if the first feature information received by the server is a photo taken by a fourth terminal device (referred to as photo a for convenience of description), the server may perform the photo with image information corresponding to multiple target time points Compare and select the picture with the highest feature value matching (referred to as picture b for ease of description). The position corresponding to the target time point is the position of photo a, that is, the current position of the fourth user can be The location of the target time point corresponding to picture b. Correspondingly, if the second feature information received by the server is the photo of the destination uploaded by the fourth user in the fourth terminal device (referred to as photo c for ease of description), the server may combine the photo c with multiple target time points The corresponding image information is compared, and the picture with the highest feature value matching (referred to as picture d for ease of description) is selected. The position corresponding to the target time point is the position of the photo d, that is, the target position can be The position of the target time point corresponding to the picture d. In another example, if the second feature information received by the server is the identification of the target location entered by the fourth user in the fourth terminal device (for example, the fourth user enters "shop F"), the server may use fuzzy matching Select the location where the target time point corresponding to the description information with the highest matching index of the target location is the location that the fourth user wants to go, that is, the fourth user wants to go to the shop F.

Step 306: The server generates a navigation route from the current location of the fourth user to the target location according to the map model of the building to be navigated.

Here, the server may be provided with path planning software, such as A-Star path planning software. After determining the current location and target location of the fourth user, the server can call path planning software to perform path planning, and select the optimal route from one or more paths obtained from the plan to determine the current location from the fourth user Navigation route from location to target location.

Step 307: The server sends the navigation route to the fourth terminal device.

Step 308: After receiving the navigation route sent by the server, the fourth terminal device presents it to the fourth user.

Here, the navigation route can be presented in various ways. For example, the navigation route can be displayed on the screen of the fourth terminal device, or the navigation route can be voice broadcast to the fourth user, or the navigation route can be displayed. Simultaneously perform voice broadcasting, which is not specifically limited in the embodiments of the present application.

In the embodiment of the present invention, if the fourth user finds that the environment of the building to be navigated changes during the navigation process using the map model of the building to be navigated, the fourth user may also update the map model in real time. In a specific implementation, there may be multiple ways to update the map model. In a possible implementation, the fourth terminal device may receive the update command uploaded by the fourth user after receiving the update instruction issued by the fourth user using the map model. Image information and / or description information corresponding to the current location information of the fourth user; at this time, the server may determine the target time point corresponding to the current location of the fourth user according to the current location of the fourth user, and may Replace the image information and / or description information at the target time point with the image information and / or description information uploaded by the fourth user to obtain an updated map model. It should be noted that if the current location of the fourth user is a location that does not exist in the map model, a target time point may be added to the map model, and the location of the target time point is the current location of the fourth user The image information and / or description information at the target time point is the image information and / or description information uploaded by the user, and then the updated map model is obtained.

FIG. 4 illustrates a navigation route 401 provided by the fourth terminal device from the current location of the fourth user to the target location, where the current location of the fourth user is a location around shop C and the target location is shop F Somewhere around.

Example 2

In this embodiment, the navigation method may be executed by the fifth terminal device. FIG. 5 is a schematic flowchart of a navigation method according to an embodiment of the present application. As shown in FIG. 5, the method includes:

Step 501: After receiving the navigation information triggered by the fifth user, the fifth terminal device determines the map model corresponding to the identification of the building to be navigated according to the identification of the building to be navigated included in the navigation information.

Here, the fifth terminal device may collect the voice information of the fifth user and parse the identification of the building to be included in the voice information of the fifth user; or, the fifth terminal device may present multiple buildings on the display screen. The picture (which may also be the identification of multiple buildings) determines the identification of the building to be navigated according to the selection of the fifth user (for example, touch feedback or key feedback).

Further, the fifth terminal device may store a map model corresponding to multiple buildings, and according to the identification of the building to be navigated, the fifth terminal device may obtain the identification of the building to be navigated from the map model corresponding to the multiple buildings The corresponding map model serves as the basis for subsequent navigation. The map model corresponding to the identification of the building to be navigated may include feature information of multiple target time points.

Step 502: The fifth terminal device obtains the first feature information and the second feature information, and matches the first feature information and the second feature information with the map model corresponding to the identifier of the building to be navigated.

In the embodiment of the present application, after determining the map model corresponding to the identifier of the building to be navigated, the fifth terminal device may also obtain first feature information, where the first feature information may include first image information and / or first description information. Specifically, the fifth terminal device may enable the shooting device to shoot the scene around the fifth user to obtain the first image information; and / or, the fifth terminal device may receive the voice input by the fifth user in the first dialog box or Text to get the first description. Correspondingly, the fifth terminal device may also obtain second feature information, where the second feature information may include second image information and / or second description information. Specifically, the fifth terminal device may receive pictures or videos input by the fifth user to obtain second image information; and / or, the fifth terminal device may receive voice or text entered by the fifth user in the second dialog box to obtain Second description information.

Step 503: Determine the current location of the fifth user according to the location of the target time point corresponding to the feature information successfully matched with the first feature information, and locate the target time point corresponding to the feature information successfully matched with the second feature information Determines the target position.

Step 504: Generate a navigation route from the current location of the fifth user to the target location and present it to the fifth user.

Here, the fifth terminal device may generate a navigation route from the current location of the fifth user to the target location according to the map model corresponding to the identifier of the building to be navigated, and present it to the fifth user. Wherein, if the navigation route is presented to the fifth user through the display screen, the display screen can also display the distance from the current location of the fifth user to the target location and the time required by the fifth user from the current location to the target location.

In the above embodiments of the present invention, by acquiring the first feature information and the second feature information, and matching the first feature information and the second feature information with the preset map model, respectively, according to the successful matching of the first feature information The position of the target time point corresponding to the feature information determines the current position of the user, and the target position can be determined according to the position of the target time point corresponding to the feature information successfully matched with the second feature information, thereby generating the current location of the user Navigation route from location to target location. In the embodiment of the present application, the preset map model may include feature information of multiple target time points. In the embodiment of the present application, the first feature information and the second feature information are respectively combined with the multiple target time points in the preset map model By matching the characteristic information of the user, you can determine the current location and target location of the user. Compared with the existing technology, it can avoid the problem of signal interference when navigating based on WIFI signals or Bluetooth signals, and can provide users with more rapid Navigation service.

For the above method flow, an embodiment of the present application further provides an apparatus, and the specific content of the apparatus may be implemented by referring to the above method.

6 is a schematic structural diagram of a server provided by an embodiment of the present application, including:

The transceiver module 601 is configured to receive the first dimension information, the second dimension information, and the third dimension information sent by the first terminal device, where the first dimension information includes the first terminal device recorded in the first time period The movement trajectory information of the first user holding the first terminal device in the building, the second dimension information includes the first terminal device's surroundings of the first user in the first time period Video information obtained by shooting a scene, the third dimension information includes description information input by the first user and received by the first terminal device at multiple time points within the first time period;

The processing module 602 is configured to: select a plurality of target time points from a plurality of time points in the first time period, and determine the first user at the plurality of target times according to the first dimension information The location of the point, and extracting the image information corresponding to the plurality of target time points according to the second dimension information, and determining the description information corresponding to the plurality of target time points according to the third dimension information; For each target time point in the plurality of target time points, the position of the first user at the target time point, the image information corresponding to the target time point, and the description corresponding to the target time point The information is correlated to obtain feature information of the target time point, and then a map model of the building is constructed according to the feature information of the multiple target time points.

Optionally, the transceiver module 601 is further configured to: receive first information sent by a second terminal device, where the first information includes the second terminal device holding the second terminal within a second time period Video information obtained by shooting a scene around the second user of the device and description information input by the second user received by the second terminal device at multiple time points in the second time period;

The processing module 602 is further configured to: according to the first information, obtain image information corresponding to multiple time points in the second time period and description information corresponding to multiple time points in the second time period ; For each of a plurality of time points in the second time period, the description information corresponding to the time point and the description information corresponding to the plurality of target time points in the map model of the building Perform matching, and after the matching is successful, superimpose the image information corresponding to the time point and the image information corresponding to the target time point at which the matching is successful, and then obtain an updated map model.

Optionally, the transceiver module 601 is further configured to: receive second information sent by a third terminal device, where the second information includes image information and / or description information corresponding to the first location;

The processing module 602 is further configured to: match the first position with positions corresponding to the plurality of target time points in the map model of the building, and after the matching is successful, match the target time point of success The corresponding image information and / or description information is updated to the image information and / or description information corresponding to the first position.

Optionally, the transceiver module 601 is further configured to: receive first image information and / or first description information sent by a fourth terminal device and second image information and / or second description information sent by a fourth terminal device;

The processing module 602 is further configured to match the first image information and / or first description information with the image information and / or description information corresponding to the multiple target time points in the map model of the building , After the matching is successful, the position corresponding to the target time point at which the matching is successful is determined as the first position; and the second image information and / or second description information and the plurality of map models in the building Match the image information and / or description information corresponding to the target time point, and after the matching is successful, determine the position corresponding to the target time point of the successful match as the second position; and then generate the second position from the first position Navigation route.

7 is a schematic structural diagram of a terminal device according to an embodiment of the present application, including:

The generating module 701 is configured to generate first dimension information, second dimension information, and third dimension information, where the first dimension information includes the first device holding the terminal device recorded in the first time period by the terminal device User's movement trajectory information in the building, the second dimension information includes video information obtained by the terminal device shooting the scene around the first user in the first time period, the third dimension The information includes descriptive information input by the first user received by the terminal device at multiple time points within the first time period;

The transceiver module 702 is configured to send the first dimension information, the second dimension information, and the third dimension information to a server, so that the server constructs a map model of the building.

It can be seen from the above: in the above embodiments of the present invention, the server receives the first dimension information, the second dimension information, and the third dimension information sent by the first terminal device, and selects from multiple After selecting multiple target time points from the time points, the first dimension information can be used to determine the location of the first user at the multiple target time points, and the image information corresponding to the multiple target time points can be extracted based on the second dimension information. And determine the description information corresponding to multiple target time points according to the third dimension information; further, the server may associate the location, image information and description information of any target point among the multiple target time points to obtain the target time Feature information of points, and according to the feature information of multiple target time points, construct a map model of the building. In the embodiment of the present application, the server receives the first dimension information, the second dimension information, and the third dimension information sent by the first terminal device, and constructs a map model. In other words, the server builds a map model based on the data of multiple dimensions collected by the first terminal device, because the first terminal device does not need to communicate with other hardware devices (such as access point devices) when collecting data of multiple dimensions Interaction, so there is no need to deploy other hardware devices in the building, which can effectively reduce hardware costs.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods or computer program products. Therefore, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

This application also provides a computing device. As shown in FIG. 8, the computing device includes:

The processor 801, the memory 802, the transceiver 803, and the bus interface 804; wherein, the processor 801, the memory 802, and the transceiver 803 are connected through a bus 805;

The processor 801 is configured to read the program in the memory 802 and execute the above method for constructing a map model;

The processor 801 may be a central processing unit (CPU), a network processor (NP), or a combination of CPU and NP. It can also be a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (FPGA), a general array logic (GAL) or any of them combination.

The memory 802 is used to store one or more executable programs, and can store data used by the processor 801 when performing operations.

Specifically, the program may include program code, and the program code includes computer operation instructions. The memory 802 may include volatile memory (volatile memory), such as random-access memory (RAM for short); the memory 802 may also include non-volatile memory (non-volatile memory), such as flash memory ( flash memory), hard disk drive (HDD) or solid-state drive (SSD); the memory 802 may also include a combination of the above-mentioned types of memory.

The memory 802 stores the following elements, executable modules or data structures, or their subsets, or their extended sets:

Operation instructions: including various operation instructions, used to realize various operations.

Operating system: includes various system programs for implementing various basic services and processing hardware-based tasks.

The bus 805 may be a peripheral component interconnection (peripheral component interconnection, PCI for short) bus or an extended industry standard architecture (extended industry standard architecture, EISA for short) bus, or the like. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only a thick line is used in FIG. 8, but it does not mean that there is only one bus or one type of bus.

The bus interface 804 may be a wired communication access port, a wireless bus interface, or a combination thereof, where the wired bus interface may be, for example, an Ethernet interface. The Ethernet interface may be an optical interface, an electrical interface, or a combination thereof. The wireless bus interface may be a WLAN interface.

Based on the same inventive concept, the embodiments of the present application also provide a non-transitory computer-readable storage medium, in which instructions are stored in the computer storage medium, which, when running on the computer, causes the computer to execute the above method for constructing a map model.

Based on the same inventive concept, the embodiments of the present application provide a computer program product containing instructions that, when run on a computer, cause the computer to execute the above method for constructing a map model.

The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram and a combination of the flow and / or block in the flowchart and / or block diagram may be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processing machine, or other programmable data processing device to produce a machine that enables the generation of instructions executed by the processor of the computer or other programmable data processing device An apparatus for realizing the functions specified in one block or multiple blocks of one flow or multiple flows of a flowchart and / or one block or multiple blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, the instructions The device implements the functions specified in one block or multiple blocks of the flowchart one flow or multiple flows and / or block diagrams.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operating steps are performed on the computer or other programmable device to produce computer-implemented processing, which is executed on the computer or other programmable device The instructions provide steps for implementing the functions specified in one block or multiple blocks of the flowchart one flow or multiple flows and / or block diagrams.

Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and equivalent technologies thereof, the present invention is also intended to include these modifications and variations.

Claims (13)

1. A method for constructing a map model, characterized in that the method includes:

   The server receives the first dimension information, the second dimension information, and the third dimension information sent by the first terminal device, where the first dimension information includes the first terminal device's record of holding the first Movement trajectory information of a first user of a terminal device in a building, and the second dimension information includes a video obtained by the first terminal device shooting a scene around the first user during the first time period Information, the third dimension information includes description information input by the first user received by the first terminal device at multiple time points within the first time period;

   The server selects multiple target time points from multiple time points in the first time period;

   The server determines the location of the first user at the plurality of target time points according to the first dimension information; extracts image information corresponding to the plurality of target time points according to the second dimension information; Determine the description information corresponding to the multiple target time points according to the third dimension information;

   For each target time point of the plurality of target time points, the server compares the position of the first user at the target time point, the image information corresponding to the target time point, and the target time The description information corresponding to the point is associated to obtain the characteristic information of the target time point;

   The server constructs a map model of the building according to the characteristic information of the plurality of target time points.
2. The method according to claim 1, wherein the method further comprises:

   The server receives first information sent by a second terminal device, where the first information includes the second terminal device photographing a scene around a second user holding the second terminal device within a second time period The obtained video information and the description information input by the second user received by the second terminal device at multiple time points in the second time period;

   Based on the first information, the server obtains image information corresponding to multiple time points in the second time period and description information corresponding to multiple time points in the second time period;

   For each time point in the plurality of time points in the second time period, the server corresponds the description information corresponding to the time point to the plurality of target time points in the map model of the building The description information is matched, and after the matching is successful, the image information corresponding to the time point and the image information corresponding to the target time point where the matching is successful are superimposed, thereby obtaining an updated map model.
3. The method according to claim 1, wherein the method further comprises:

   The server receives second information sent by a third terminal device, where the second information includes image information and / or description information corresponding to the first location;

   The server matches the first location with locations corresponding to the multiple target time points in the map model of the building, and after the matching is successful, matches the image information corresponding to the target time point and / or Or the description information is updated to the image information and / or description information corresponding to the first position.
4. The method according to any one of claims 1 to 3, wherein the method further comprises:

   The server receives first image information and / or first description information sent by a fourth terminal device, and combines the first image information and / or first description information with the plurality of map models of the building Match the image information and / or description information corresponding to the target time point, and after the matching is successful, determine the position corresponding to the target time point where the match is successful as the first position;

   The server receives second image information and / or second description information sent by a fourth terminal device, and combines the second image information and / or second description information with the plurality of map models of the building The image information and / or description information corresponding to the target time point is matched, and after the matching is successful, the position corresponding to the target time point of the successful match is determined as the second position;

   Generate a navigation route from the first location to the second location.
5. A method for constructing a map model, characterized in that the method includes:

   The first terminal device generates first dimension information, second dimension information, and third dimension information, where the first dimension information includes the record held by the first terminal device within the first period of time The movement trajectory information of the first user in the building, the second dimension information includes video information obtained by the first terminal device shooting the scene around the first user in the first time period, so The third dimension information includes description information input by the first user and received by the first terminal device at multiple time points in the first time period;

   The first terminal device sends the first dimension information, the second dimension information, and the third dimension information to a server, so that the server constructs a map model of the building.
6. A server, characterized in that the server includes:

   The transceiver module is configured to receive the first dimension information, the second dimension information, and the third dimension information sent by the first terminal device, where the first dimension information includes a record recorded by the first terminal device within a first time period There is movement trajectory information of the first user of the first terminal device in the building, and the second dimension information includes the scene around the first user by the first terminal device during the first time period Video information obtained by shooting, the third dimension information includes description information input by the first user received by the first terminal device at multiple time points within the first time period;

   The processing module is configured to: select a plurality of target time points from a plurality of time points in the first time period, and determine the first user at the plurality of target time points according to the first dimension information The location where the image information corresponding to the multiple target time points is extracted based on the second dimension information, and the description information corresponding to the multiple target time points is determined based on the third dimension information; For each target time point of the plurality of target time points, the position of the first user at the target time point, the image information corresponding to the target time point, and the description information corresponding to the target time point Perform correlation to obtain feature information of the target time point, and then construct a map model of the building according to the feature information of the multiple target time points.
7. The server according to claim 6, wherein the transceiver module is further configured to:

   Receiving first information sent by a second terminal device, where the first information includes a video obtained by the second terminal device shooting a scene around a second user holding the second terminal device within a second time period Information and description information input by the second user received by the second terminal device at multiple time points in the second time period;

   The processing module is also used to:

   Obtaining image information corresponding to multiple time points in the second time period and description information corresponding to multiple time points in the second time period based on the first information; for the second time period At each time point within a plurality of time points within the time, match the description information corresponding to the time point with the description information corresponding to the target time points in the map model of the building, and after the matching is successful, The image information corresponding to the time point is superimposed with the image information corresponding to the target time point at which the matching is successful, thereby obtaining an updated map model.
8. The server according to claim 6, wherein the transceiver module is further configured to: receive second information sent by a third terminal device, where the second information includes image information and / or description information corresponding to the first location ;

   The processing module is further configured to: match the first location with locations corresponding to the plurality of target time points in the map model of the building, and after the match is successful, correspond to the target time point where the match is successful The image information and / or description information of is updated to the image information and / or description information corresponding to the first position.
9. The server according to any one of claims 6 to 8, wherein the transceiver module is further configured to: receive the first image information and / or the first description information and the fourth terminal device sent by the fourth terminal device Sent second image information and / or second description information;

   The processing module is further configured to match the first image information and / or first description information with the image information and / or description information corresponding to the multiple target time points in the map model of the building, After the matching is successful, the location corresponding to the target time point of the successful matching is determined as the first location; and the second image information and / or the second description information and the plurality of targets in the map model of the building The image information and / or description information corresponding to the time point is matched, and after the matching is successful, the position corresponding to the target time point at which the match is successful is determined as the second position; further, the position from the first position to the second position is generated Navigation route.
10. A terminal device, characterized in that the terminal device includes:

    A generating module, configured to generate first dimension information, second dimension information, and third dimension information, where the first dimension information includes the first user holding the terminal device recorded by the terminal device within a first time period Movement trajectory information in the building, the second dimension information includes video information obtained by the terminal device shooting the scene around the first user during the first time period, and the third dimension information Including description information input by the first user received by the terminal device at multiple time points within the first time period;

    The transceiver module is configured to send the first dimension information, the second dimension information, and the third dimension information to a server, so that the server constructs a map model of the building.
11. An electronic device, characterized by comprising a processor, a memory, a transceiver, and a bus interface, wherein the processor, the memory, and the transceiver are connected by a bus;

    The processor is configured to read the program in the memory and execute the method according to any one of claims 1 to 5;

    The memory is used to store one or more executable programs, and can store data used by the processor when performing operations.
12. A non-transitory computer-readable storage medium, characterized in that the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to make the computer execute the method according to any one of claims 1 to 5. .
13. A computer program product, characterized in that the computer program product includes a calculation program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer, the The computer executes the method according to any one of claims 1 to 5.

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