CN111770449A - Terminal positioning method and device based on camera terminal equipment - Google Patents
Terminal positioning method and device based on camera terminal equipment Download PDFInfo
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Abstract
The disclosure relates to the technical field of positioning, in particular to a terminal positioning method and device based on camera terminal equipment, which are used for improving positioning efficiency and positioning precision, and the method comprises the following steps: the camera terminal equipment acquires terminal identification information and a first face image corresponding to the terminal based on the positioning request, then recognizes a target face from a shot second face image, determines relative position information of the terminal relative to the camera terminal equipment based on the position of the target face in the second face image, and then determines positioning information of the terminal based on the relative position information and the installation position information. Therefore, the image is shot through the camera terminal equipment, the terminal positioning is realized, the operation cost is reduced, and meanwhile, the problem that the satellite signal is weak and the positioning cannot be carried out is avoided, so that the positioning efficiency is improved, and the positioning precision is improved.
Description
Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a method and an apparatus for positioning a terminal based on a camera device.
Background
The Global Positioning System (GPS) is a Positioning System for high-precision radio navigation based on air satellites, and can provide accurate geographic position, vehicle speed and precise time information anywhere in the world and in the near-earth space.
However, since satellite signals are weak when reaching the ground and cannot penetrate buildings, and the accuracy of indoor positioning is low, GPS technology is generally applied to outdoor positioning, and technologies such as wireless fidelity (Wi-Fi), bluetooth, Radio Frequency Identification (RFID), and Ultra Wide Band (UWB) are generally used for indoor positioning.
However, the above-mentioned several indoor positioning technologies all require additional deployment of positioning base stations, for example, when indoor positioning is performed by using Wi-Fi technology, Wireless Access Point (AP) needs to be deployed, when indoor positioning is performed by using bluetooth technology, bluetooth base stations need to be deployed, and when indoor positioning is performed by using RFID technology, RFID readers need to be deployed, which increases operation cost and is not convenient for large-scale application.
It follows that a new solution needs to be devised to overcome the above drawbacks.
Disclosure of Invention
The disclosure provides a terminal positioning method and device based on camera terminal equipment, which are used for improving positioning efficiency and positioning precision.
The specific technical scheme provided by the embodiment of the disclosure is as follows:
in a first aspect, a terminal positioning method based on camera equipment includes:
the method comprises the steps that camera terminal equipment receives a positioning request sent by a terminal, wherein the positioning request at least carries a first face image corresponding to the terminal, and terminal identification information and the first face image corresponding to the terminal are obtained based on the positioning request;
the camera terminal equipment shoots a second face image, a target face is recognized from the second face image based on the first face image, and relative position information of the terminal relative to the camera terminal equipment is determined based on the position of the target face in the second face image;
the camera terminal equipment determines the positioning information of the terminal based on the relative position information and the installation position information of the camera terminal equipment;
and the camera terminal equipment sends the positioning information to the terminal based on the terminal identification information.
Optionally, the obtaining, by the camera device, terminal identification information corresponding to the terminal specifically includes:
if the positioning request carries the terminal identification information, the camera terminal equipment directly acquires the terminal identification information corresponding to the terminal from the positioning request;
if the positioning request does not carry the terminal identification information, the camera terminal equipment acquires a Media Access Control (MAC) address of the terminal in a preset address detection mode, and takes the MAC address as the terminal identification information corresponding to the terminal.
Optionally, the camera device identifies a target face from the second face image based on the first face image, and specifically includes:
the camera terminal equipment identifies at least one face contained in the second face image based on the first face image, and respectively determines at least one similarity between the at least one face and the first face image;
the camera terminal equipment takes a face with the highest similarity value as a candidate face based on the at least one similarity;
and when the camera terminal equipment determines that the similarity value of the candidate face and the first face image reaches a preset similarity threshold value, taking the candidate face as a target face.
Optionally, the camera-side device determines, based on the position of the target face in the second face image, relative position information of the terminal with respect to the camera-side device, and specifically includes:
the camera terminal equipment adopts a preset relative position information generation model to determine the relative position information of the terminal relative to the camera terminal equipment based on the position of the target face in the second face image and the installation position information of the camera terminal equipment; and the relative position information generation model is obtained based on the installation position information and each preset sampling position point.
Optionally, the camera device determines the positioning information of the terminal based on the relative position information and the installation position information of the camera device, and specifically includes:
the camera terminal equipment determines terminal angle information of the terminal based on the offset angle information and the fixed angle information of the camera terminal equipment;
and the camera end equipment determines the positioning information of the terminal based on the terminal angle information, the relative distance information and the fixed position information of the camera end equipment.
Optionally, the camera device sends the positioning information to the terminal based on the terminal identification information, and specifically includes:
the camera terminal equipment directly sends the positioning information to the terminal based on the terminal identification information; or,
and the camera terminal equipment broadcasts the terminal identification information and the positioning information in a wireless communication mode, and the terminal is enabled to receive the corresponding positioning information based on the terminal identification information.
Optionally, after the camera device sends the positioning information to the terminal based on the terminal identification information, the method further includes:
if the positioning request further carries target position information, the camera terminal equipment acquires the target position information from the positioning request;
and the camera terminal equipment plans a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
Optionally, after the camera device sends the positioning information to the terminal based on the terminal identification information, the method further includes:
the camera terminal equipment receives a navigation request sent by the terminal and acquires target position information from the navigation request;
and the camera terminal equipment plans a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
In a second aspect, a terminal positioning method based on camera equipment includes:
a terminal sends a positioning request to a camera device, the camera device is enabled to acquire terminal identification information and a first face image corresponding to the terminal, and after a second face image is shot, positioning information of the terminal is determined based on the first face image and the second face image, wherein the positioning request at least carries the first face image corresponding to the terminal, and the positioning information is determined based on the relative position information and the installation position information of the camera device after the camera device identifies a target face from the second face image based on the first face image and determines the relative position information of the terminal relative to the camera device based on the target face;
and the terminal receives the positioning information sent by the camera terminal equipment.
Optionally, the receiving, by the terminal, the positioning information sent by the camera device specifically includes:
the terminal directly receives the positioning information sent by the camera terminal equipment; or,
and the terminal receives the positioning information which is broadcast and sent by the camera terminal equipment in a wireless communication mode based on the terminal identification information.
Optionally, the positioning request further carries target location information, and after the terminal receives the positioning information sent by the camera device, the method further includes:
and the terminal receives a navigation route returned by the camera terminal equipment, wherein the navigation route is planned for the terminal based on the target position information and the positioning information after the camera terminal equipment acquires the target position information from the positioning request.
Optionally, after the terminal receives the positioning information sent by the camera device, the method further includes:
the terminal sends a navigation request to the camera terminal equipment, and the camera terminal equipment plans a navigation route from the current position to the target position for the terminal based on the target position information carried in the navigation request and the positioning information;
and the terminal receives the navigation route returned by the camera terminal equipment.
In a third aspect, an image pickup end apparatus includes:
a receiving unit, configured to receive a positioning request sent by a terminal, where the positioning request at least carries a first face image corresponding to the terminal, and obtain, based on the positioning request, terminal identification information and the first face image corresponding to the terminal;
the identification unit is used for shooting a second face image, identifying a target face from the second face image based on the first face image, and determining relative position information of the terminal relative to the camera-side equipment based on the position of the target face in the second face image;
the positioning unit is used for determining the positioning information of the terminal based on the relative position information and the installation position information of the camera terminal equipment;
and the sending unit is used for sending the positioning information to the terminal based on the terminal identification information.
Optionally, when acquiring the terminal identification information corresponding to the terminal, the receiving unit is specifically configured to:
if the positioning request carries the terminal identification information, directly acquiring the terminal identification information corresponding to the terminal from the positioning request;
if the positioning request does not carry the terminal identification information, a preset address detection mode is adopted to obtain a Media Access Control (MAC) address of the terminal, and the MAC address is used as the terminal identification information corresponding to the terminal.
Optionally, when the target face is identified from the second face image based on the first face image, the identifying unit is specifically configured to:
identifying at least one face contained in the second face image based on the first face image, and respectively determining at least one similarity between the at least one face and the first face image;
based on the at least one similarity, taking the face with the highest similarity value as a candidate face;
and when the similarity value of the candidate face and the first face image is determined to reach a preset similarity threshold value, taking the candidate face as a target face.
Optionally, when determining the relative position information of the terminal with respect to the camera-side device based on the position of the target face in the second face image, the identifying unit is specifically configured to:
generating a model by adopting preset relative position information based on the position of the target face in the second face image and the installation position information of the camera terminal equipment, and determining the relative position information of the terminal relative to the camera terminal equipment; and the relative position information generation model is obtained based on the installation position information and each preset sampling position point.
Optionally, when determining the positioning information of the terminal based on the relative position information and the installation position information of the camera device, the positioning unit is specifically configured to:
determining terminal angle information of the terminal based on the offset angle information and fixed angle information of the camera terminal equipment;
and determining the positioning information of the terminal based on the terminal angle information, the relative distance information and the fixed position information of the camera terminal equipment.
Optionally, when the positioning information is sent to the terminal based on the terminal identification information, the sending unit is specifically configured to:
based on the terminal identification information, directly sending the positioning information to the terminal; or,
and broadcasting the terminal identification information and the positioning information in a wireless communication mode, and enabling the terminal to receive corresponding positioning information based on the terminal identification information.
Optionally, after sending the positioning information to the terminal based on the terminal identification information, the receiving unit is further configured to:
if the positioning request further carries target position information, acquiring the target position information from the positioning request;
the positioning unit is further configured to:
and planning a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
Optionally, after sending the positioning information to the terminal based on the terminal identification information, the receiving unit is further configured to:
receiving a navigation request sent by the terminal, and acquiring target position information from the navigation request;
the positioning unit is further configured to:
and planning a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
In a fourth aspect, a terminal includes:
a sending unit, configured to send a positioning request to a camera device, enable the camera device to obtain terminal identification information and a first face image corresponding to a terminal, and after shooting a second face image, determine positioning information of the terminal based on the first face image and the second face image, where the positioning request at least carries the first face image corresponding to the terminal, and the positioning information is determined based on the relative position information and installation position information of the camera device after the camera device identifies a target face from the second face image based on the first face image and determines relative position information of the terminal with respect to the camera device based on the target face;
and the receiving unit is used for receiving the positioning information sent by the camera terminal equipment.
Optionally, when receiving the positioning information sent by the camera device, the receiving unit is specifically configured to:
directly receiving the positioning information sent by the camera terminal equipment; or,
and receiving the positioning information broadcast and sent by the camera terminal equipment in a wireless communication mode based on the terminal identification information.
Optionally, the positioning request further carries target location information, and after receiving the positioning information sent by the camera device, the receiving unit is further configured to:
and receiving a navigation route returned by the camera terminal equipment, wherein the navigation route is planned for the terminal based on the target position information and the positioning information after the camera terminal equipment acquires the target position information from the positioning request.
Optionally, after receiving the positioning information sent by the camera device, the sending unit is further configured to:
sending a navigation request to the camera terminal equipment, and enabling the camera terminal equipment to plan a navigation route from the current position to the target position for the terminal based on target position information carried in the navigation request and the positioning information;
the receiving unit is further configured to:
and receiving the navigation route returned by the camera terminal equipment.
In a fifth aspect, an image pickup-side apparatus includes:
a memory for storing executable instructions;
and the processor is used for reading and executing the executable instructions stored in the memory so as to realize the terminal positioning method based on the camera-side equipment in any one of the first aspect.
In a sixth aspect, a terminal includes:
a memory for storing executable instructions;
and the processor is used for reading and executing the executable instructions stored in the memory so as to realize the terminal positioning method based on the camera-side equipment in any one of the second aspect.
In a seventh aspect, a storage medium, where instructions are executed by a processor, so that the processor can execute the camera-side device-based terminal positioning method according to any one of the first aspect.
An eighth aspect is a storage medium, wherein instructions, when executed by a processor, enable the processor to execute the camera-side device-based terminal positioning method according to any one of the second aspect.
In summary, in the embodiment of the present disclosure, the camera device receives a positioning request sent by the terminal, acquires terminal identification information and a first face image corresponding to the terminal, then recognizes a target face from a shot second face image, determines relative position information of the terminal with respect to the camera device based on a position of the target face in the second face image, then determines positioning information of the terminal based on the relative position information and the installation position information, and sends the positioning information to the terminal based on the terminal identification information. Like this, through camera end equipment, fix a position the terminal, need not additionally dispose the location basic station in the room, reduced the operation cost, in addition, realize the terminal location through shooting the image, avoided because the GPS signal is weak and the problem that can't fix a position to improve positioning efficiency, promoted positioning accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flowchart of a terminal positioning method based on a camera device according to an embodiment of the present disclosure;
FIG. 2 is a second face image captured by IPC in an underground garage in an embodiment of the disclosure;
fig. 3 is a scene schematic diagram of an IPC and a terminal in an underground garage provided in an embodiment of the present disclosure;
fig. 4 is a schematic view of another scenario of an IPC and a terminal in an underground garage provided in the embodiment of the present disclosure;
fig. 5 is a schematic diagram of a logic architecture of a camera device provided in an embodiment of the present disclosure;
fig. 6 is a schematic entity architecture diagram of a camera device provided in an embodiment of the present disclosure;
fig. 7 is a schematic diagram of a logic architecture of a terminal provided in an embodiment of the present disclosure;
fig. 8 is a schematic diagram of a logic architecture of a terminal provided in an embodiment of the present disclosure.
Detailed Description
In order to improve the positioning accuracy and reduce the operation cost, in the embodiment of the disclosure, the camera device receives a positioning request sent by the terminal, obtains terminal identification information and a first face image corresponding to the terminal, then recognizes a target face from a shot second face image, determines relative position information of the terminal relative to the camera device based on a position of the target face in the second face image, and then determines positioning information of the terminal based on the relative position information and the installation position information, and sends the positioning information to the terminal based on the terminal identification information.
Preferred embodiments of the present disclosure will be described in further detail with reference to the accompanying drawings.
In the embodiment of the present application, the Camera device includes, but is not limited to, a conventional Camera, a network Camera (IPC), a voiceprint recognition device, a face recognition device, and the like. For convenience of description, the following description will only take the application scenario as an underground garage and the camera end device as an IPC as an example.
Referring to fig. 1, in the embodiment of the present application, a terminal positioning process based on a camera device is as follows.
Step S101: the method comprises the steps that camera terminal equipment receives a positioning request sent by a terminal, the positioning request at least carries a first face image corresponding to the terminal, and terminal identification information and the first face image corresponding to the terminal are obtained based on the positioning request.
Specifically, the camera device receives a positioning request sent by a terminal, and the positioning request at least carries a first face image corresponding to the terminal.
For example, the IPC receives the positioning request 1 sent by the terminal 1, and the positioning request 1 carries at least the first face image corresponding to the terminal 1.
In the embodiment of the present disclosure, based on the positioning request sent by the terminal, there are, but not limited to, the following two cases:
in the first case: the positioning request carries terminal identification information corresponding to the terminal.
And if the positioning request carries the terminal identification information, the camera terminal equipment receives the positioning request and directly acquires the terminal identification information corresponding to the terminal.
For example, suppose that the positioning request 1 carries terminal identification information 1, and the terminal identification of the terminal 1 represented by the terminal identification information 1 is user id1, at this time, IPC directly obtains the terminal identification information 1 corresponding to the terminal 1 from the positioning request 1.
In the second case: the positioning request does not carry the terminal identification information corresponding to the terminal.
If the positioning request does not carry the terminal identification information, the camera device acquires a Media Access Control (MAC) address of the terminal in a preset address detection manner, and uses the MAC address as the terminal identification information corresponding to the terminal.
It should be noted that, in the embodiment of the present disclosure, the preset address detection manner may use, but is not limited to, a Bluetooth Low Energy (BLE) probe, a Wi-Fi probe, and the like, which is not limited in this disclosure and is not described herein again.
For example, assuming that the terminal identification information is not carried in the positioning request 1, at this time, the IPC acquires the MAC address 00-00-00-00-00-E0 of the terminal 1 by using the bluetooth BLE probe, and uses the MAC address 00-00-00-00-00-00-00-E0 as the terminal identification information 1 corresponding to the terminal 1.
Step S102: the camera terminal device shoots a second face image, a target face is recognized from the second face image based on the first face image, and relative position information of the terminal relative to the camera terminal device is determined based on the position of the target face in the second face image.
Specifically, when step S102 is executed, the following steps are divided:
and A1, shooting a second face image by the camera-side equipment.
For example, referring to fig. 2, the IPC captures a second face image, where the second face image includes a face 1, a face 2, a face 3, and a face 4.
A2, the camera-side equipment identifies the target face from the second face image based on the first face image.
Specifically, the camera device identifies at least one face contained in the second face image based on the first face image, and determines at least one similarity between the at least one face and the first face image respectively.
For example, referring to fig. 2, the IPC identifies a face 1, a face 2, a face 3, and a face 4 included in the second face image based on the first face image, and determines that the similarities between the face 1, the face 2, the face 3, and the face 4 and the first face image are 60%, 50%, 95%, and 30%, respectively.
And the camera-side equipment takes the face with the highest similarity value as a candidate face based on at least one similarity.
For example, IPC takes a face 3 with the highest numerical value of similarity as a candidate face based on 60%, 50%, 95%, and 30% of similarities between the face 1, the face 2, the face 3, and the face 4 and the first face image.
And when the camera terminal equipment determines that the similarity value of the candidate face and the first face image reaches a preset similarity threshold value, taking the candidate face as a target face.
For example, if the preset similarity threshold value is 90%, and the IPC determines that the similarity between the face 3 and the first face image reaches 90%, the face 3 is taken as the target face.
And A3, the camera-side equipment determines the relative position information of the terminal relative to the camera-side equipment based on the position of the target face in the second face image.
Specifically, in the embodiment of the present disclosure, when step a3 is executed, the following two ways may be adopted, but are not limited to:
the first mode is as follows:
firstly, the camera-end equipment determines offset angle information of the terminal relative to the camera-end equipment based on the relative position relationship between the target face and the central point of the second face image, and determines an offset angle interval to which the offset angle information belongs based on a preset angle interval dividing mode.
For example, referring to fig. 2, the IPC determines offset angle information 1 of the terminal 1 relative to the IPC based on the relative position relationship between the face 3 and the center point of the second face image, and referring to fig. 3, the offset angle information 1 represents that the offset angle α of the terminal 1 relative to the IPC is 25 °, and it is assumed that the offset angle 0 ° -the offset angle 10 ° is divided into an offset angle interval 1, the offset angle 10 ° -the offset angle 20 ° is divided into an offset angle interval 2, the offset angle 20 ° -the offset angle 30 ° is divided into an offset angle interval 3, and the offset angle interval to which the offset angle information 1 belongs is determined to be the offset angle interval 3.
And then, the camera terminal equipment determines image distance information between the target face and the central point of the second face image, and determines relative distance information of the terminal relative to the camera terminal equipment based on the image distance information, the offset angle interval and a preset angle distance mapping relation.
It should be noted that, in the embodiment of the present disclosure, the angle-distance mapping relationship at least includes a mapping relationship among the offset angle interval, the image distance information, and the relative distance information.
For example, referring to fig. 2, the IPC determines image distance information 1 between a face 3 and a center point of a second face image, where the image distance information 1 represents that an image distance between the face 3 and the center point of the second face image is 2 centimeters, and assuming that, in a preset angle distance mapping relationship, when an offset angle section is an offset angle section 3 and the image distance is 2 centimeters, a relative distance is 10 meters, at this time, based on the image distance information 1, the offset angle section 3, and the angle distance mapping relationship, the relative distance information 1 of the terminal relative to the IPC is determined, referring to fig. 3, the relative distance information 1 represents that a relative distance d of the terminal 1 relative to the IPC is 10 meters.
Then, the camera-side device uses the offset angle information and the relative distance information as the relative position information of the terminal with respect to the camera-side device.
For example, the IPC takes offset angle information 1 representing that the offset angle α of the terminal 1 with respect to the IPC is 25 °, and relative distance information 1 representing that the relative distance of the terminal 1 with respect to the IPC is 10 meters, as the relative position information of the terminal 1 with respect to the IPC.
The second mode is as follows:
specifically, the camera-side device generates a model by using preset relative position information based on the position of the target face in the second face image and the installation position information of the camera-side device, and determines the relative position information of the terminal relative to the camera-side device.
In the embodiment of the present disclosure, the preset relative position information generation model is obtained based on the installation position information of the camera device and each preset sampling position point.
In the embodiment of the disclosure, the installation position information of the camera end device at least includes fixed angle information and fixed position information, where the fixed position information includes any one or combination of longitude and latitude information and coordinate information of the camera end device.
For example, assume that a sampling position point 1, a sampling position point 2, and a sampling position point 3 are preset, a relative position information generation model is obtained based on the installation position information of the IPC and the sampling position point 1, the sampling position point 2, and the sampling position point 3 in advance, after the IPC identifies the face 3 from the second face image, the IPC is based on the position of the face 3 in the second face image and the installation position information based on the IPC, wherein the installation position information includes the fixed angle information of the IPC and the fixed position information of the IPC, the fixed angle represented by the fixed angle information of the IPC is 10 ° south, see fig. 4, in a coordinate system with the west door as an origin, the coordinate information represented by the fixed position information of the IPC is (0, 3), the relative position information generation model is adopted to determine the relative position information of the terminal 1 relative to the IPC, and the relative position information represents that the offset angle α of the terminal 1 relative to the IPC is 25 °, The relative distance of the terminal 1 with respect to the IPC is 10 meters.
Step S103: and the camera-side equipment determines the positioning information of the terminal based on the relative position information and the installation position information of the camera-side equipment.
It should be noted that, in the embodiment of the present disclosure, the installation position information of the camera device at least includes fixed angle information and fixed position information, where the fixed position information includes any one or a combination of longitude and latitude information and coordinate information of the camera device.
Specifically, the camera device determines terminal angle information of the terminal based on the offset angle information and the fixed angle information of the camera device.
For example, referring to fig. 3, it is assumed that the fixed angle information of the IPC represents that the fixed angle of the IPC is 10 ° south, the IPC determines the terminal angle information 1 of the terminal 1 based on the offset angle information 1 and the fixed angle information of the IPC, and the terminal angle information 1 represents that the angle of the terminal is 35 ° south.
And the camera end equipment determines the positioning information of the terminal based on the terminal angle information, the relative distance information and the fixed position information of the camera end equipment.
For example, referring to fig. 4, in a coordinate system with the west gate as the origin, the coordinate information of the IPC is (0, 3), the coordinate information of the IPC is included in the fixed position information of the IPC, the IPC specifies the positioning information 1 of the terminal 1 based on the terminal angle information 1, the relative distance information 1, and the fixed position information of the IPC, and the positioning information 1 indicates that the terminal 1 is located at (3, 2).
Step S104: and the camera terminal equipment sends the positioning information to the terminal based on the terminal identification information.
Specifically, in the embodiment of the present disclosure, the positioning information may be sent to the terminal in the following two manners:
the first method is as follows: and the camera terminal equipment directly sends the positioning information to the terminal based on the terminal identification information.
For example, the IPC directly transmits the positioning information 1 to the terminal 1 based on the terminal identification information characterizing the MAC address of the terminal 1 as 00-00-00-00-E0.
The second method comprises the following steps: the camera terminal equipment broadcasts the terminal identification information and the positioning information in a wireless communication mode, and the terminal receives the corresponding positioning information based on the terminal identification information.
For example, the IPC broadcasts the terminal identification information 1 and the positioning information 1 through the bluetooth BLE technology, wherein the terminal identification information 1 represents that the MAC address of the terminal 1 is 00-00-00-00-00-00-00-E0, so that the terminal 1 receives the corresponding positioning information 1 based on the terminal identification information 1.
Further, after step S104 is executed, there are, but not limited to, the following two cases:
in the first case:
if the positioning request further carries target position information, the camera terminal equipment acquires the target position information from the positioning request;
and the camera terminal equipment plans a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
For example, assuming that the positioning request 1 further carries target location information 1, and the target location information 1 represents a target location a, at this time, the IPC obtains the target location information 1 from the positioning request 1, and then the IPC plans a navigation route from the current location (3, 2) to the target location a for the terminal based on the target location information 1 and the positioning information 1.
In the second case:
the method comprises the steps that camera terminal equipment receives a navigation request sent by a terminal and obtains target position information from the navigation request;
and the camera terminal equipment plans a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
For example, the IPC receives a navigation request 1 sent by a terminal 1 and acquires target location information 1 from the navigation request 1, the target location information 1 represents a target location a, and then the IPC plans a navigation route from a current location (3, 2) to the target location a for the terminal based on the target location information 1 and the positioning information 1.
Based on the same inventive concept, referring to fig. 5, in an embodiment of the present disclosure, a camera device is provided, which at least includes: a receiving unit 501, an identifying unit 502, a positioning unit 503 and a sending unit 504, wherein,
a receiving unit 501, configured to receive a positioning request sent by a terminal, where the positioning request at least carries a first face image corresponding to the terminal, and obtain terminal identification information and the first face image corresponding to the terminal based on the positioning request;
a recognition unit 502, configured to capture a second face image, recognize a target face from the second face image based on the first face image, and determine relative position information of the terminal with respect to a camera device based on a position of the target face in the second face image;
a positioning unit 503, configured to determine positioning information of the terminal based on the relative position information and the installation position information of the camera device;
a sending unit 504, configured to send the positioning information to the terminal based on the terminal identification information.
Optionally, when acquiring the terminal identifier information corresponding to the terminal, the receiving unit 501 is specifically configured to:
if the positioning request carries the terminal identification information, directly acquiring the terminal identification information corresponding to the terminal from the positioning request;
if the positioning request does not carry the terminal identification information, a preset address detection mode is adopted to obtain a Media Access Control (MAC) address of the terminal, and the MAC address is used as the terminal identification information corresponding to the terminal.
Optionally, when the target face is identified from the second face image based on the first face image, the identifying unit 502 is specifically configured to:
identifying at least one face contained in the second face image based on the first face image, and respectively determining at least one similarity between the at least one face and the first face image;
based on the at least one similarity, taking the face with the highest similarity value as a candidate face;
and when the similarity value of the candidate face and the first face image is determined to reach a preset similarity threshold value, taking the candidate face as a target face.
Optionally, when determining the relative position information of the terminal with respect to the camera-side device based on the position of the target face in the second face image, the identifying unit 502 is specifically configured to:
generating a model by adopting preset relative position information based on the position of the target face in the second face image and the installation position information of the camera terminal equipment, and determining the relative position information of the terminal relative to the camera terminal equipment; and the relative position information generation model is obtained based on the installation position information and each preset sampling position point.
Optionally, when determining the positioning information of the terminal based on the relative position information and the installation position information of the camera device, the positioning unit 503 is specifically configured to:
determining terminal angle information of the terminal based on the offset angle information and fixed angle information of the camera terminal equipment;
and determining the positioning information of the terminal based on the terminal angle information, the relative distance information and the fixed position information of the camera terminal equipment.
Optionally, when the positioning information is sent to the terminal based on the terminal identification information, the sending unit 504 is specifically configured to:
based on the terminal identification information, directly sending the positioning information to the terminal; or,
and broadcasting the terminal identification information and the positioning information in a wireless communication mode, and enabling the terminal to receive corresponding positioning information based on the terminal identification information.
Optionally, after sending the positioning information to the terminal based on the terminal identification information, the receiving unit 501 is further configured to:
if the positioning request further carries target position information, acquiring the target position information from the positioning request;
the positioning unit 503 is further configured to:
and planning a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
Optionally, after sending the positioning information to the terminal based on the terminal identification information, the receiving unit 501 is further configured to:
receiving a navigation request sent by the terminal, and acquiring target position information from the navigation request;
the positioning unit 503 is further configured to:
and planning a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
Based on the same inventive concept, referring to fig. 6, an embodiment of the present disclosure provides a camera device, which at least includes:
a memory 601 for storing executable instructions;
a processor 602, configured to read and execute the executable instructions stored in the memory, and perform the following processes:
receiving a positioning request sent by a terminal, wherein the positioning request at least carries a first face image corresponding to the terminal, and acquiring terminal identification information corresponding to the terminal and the first face image based on the positioning request;
shooting a second face image, recognizing a target face from the second face image based on the first face image, and determining relative position information of the terminal relative to a camera terminal device based on the position of the target face in the second face image;
determining positioning information of the terminal based on the relative position information and the installation position information of the camera terminal equipment;
and sending the positioning information to the terminal based on the terminal identification information.
Optionally, when acquiring the terminal identification information corresponding to the terminal, the processor 602 is specifically configured to:
if the positioning request carries the terminal identification information, directly acquiring the terminal identification information corresponding to the terminal from the positioning request;
if the positioning request does not carry the terminal identification information, a preset address detection mode is adopted to obtain a Media Access Control (MAC) address of the terminal, and the MAC address is used as the terminal identification information corresponding to the terminal.
Optionally, when the target face is identified from the second face image based on the first face image, the processor 602 is specifically configured to:
identifying at least one face contained in the second face image based on the first face image, and respectively determining at least one similarity between the at least one face and the first face image;
based on the at least one similarity, taking the face with the highest similarity value as a candidate face;
and when the similarity value of the candidate face and the first face image is determined to reach a preset similarity threshold value, taking the candidate face as a target face.
Optionally, when determining the relative position information of the terminal with respect to the camera-side device based on the position of the target face in the second face image, the processor 602 is specifically configured to:
generating a model by adopting preset relative position information based on the position of the target face in the second face image and the installation position information of the camera terminal equipment, and determining the relative position information of the terminal relative to the camera terminal equipment; and the relative position information generation model is obtained based on the installation position information and each preset sampling position point.
Optionally, when determining the positioning information of the terminal based on the relative position information and the installation position information of the camera device, the processor 602 is specifically configured to:
determining terminal angle information of the terminal based on the offset angle information and fixed angle information of the camera terminal equipment;
and determining the positioning information of the terminal based on the terminal angle information, the relative distance information and the fixed position information of the camera terminal equipment.
Optionally, when the positioning information is sent to the terminal based on the terminal identification information, the processor 602 is specifically configured to:
based on the terminal identification information, directly sending the positioning information to the terminal; or,
and broadcasting the terminal identification information and the positioning information in a wireless communication mode, and enabling the terminal to receive corresponding positioning information based on the terminal identification information.
Optionally, after sending the positioning information to the terminal based on the terminal identification information, the processor 602 is further configured to:
if the positioning request further carries target position information, acquiring the target position information from the positioning request;
and planning a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
Optionally, after sending the positioning information to the terminal based on the terminal identification information, the processor 602 is further configured to:
receiving a navigation request sent by the terminal, and acquiring target position information from the navigation request;
and planning a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
Wherein in fig. 6 the bus architecture may comprise any number of interconnected buses and bridges, with one or more processors, represented in particular by processor 602, and various circuits of memory, represented by memory 601, being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 603 may be a number of elements, including a transmitter and a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 602 is responsible for managing the bus architecture and general processing, and the memory 601 may store data used by the processor 602 in performing operations.
Based on the same inventive concept, referring to fig. 7, in the embodiment of the present disclosure, a terminal is provided, which at least includes: a transmitting unit 701 and a receiving unit 702, wherein,
a sending unit 701, configured to send a positioning request to a camera device, enable the camera device to obtain terminal identification information and a first face image corresponding to a terminal, and after shooting a second face image, determine positioning information of the terminal based on the first face image and the second face image, where the positioning request at least carries the first face image corresponding to the terminal, and the positioning information is determined based on the relative position information and installation position information of the camera device after the camera device identifies a target face from the second face image based on the first face image and determines relative position information of the terminal with respect to the camera device based on the target face;
a receiving unit 702, configured to receive the positioning information sent by the camera device.
Optionally, when receiving the positioning information sent by the camera device, the receiving unit 702 is specifically configured to:
directly receiving the positioning information sent by the camera terminal equipment; or,
and receiving the positioning information broadcast and sent by the camera terminal equipment in a wireless communication mode based on the terminal identification information.
Optionally, the positioning request further carries target location information, and after receiving the positioning information sent by the camera device, the receiving unit 702 is further configured to:
and receiving a navigation route returned by the camera terminal equipment, wherein the navigation route is planned for the terminal based on the target position information and the positioning information after the camera terminal equipment acquires the target position information from the positioning request.
Optionally, after receiving the positioning information sent by the camera device, the sending unit 701 is further configured to:
sending a navigation request to the camera terminal equipment, and enabling the camera terminal equipment to plan a navigation route from the current position to the target position for the terminal based on target position information carried in the navigation request and the positioning information;
the receiving unit 702 is further configured to:
and receiving the navigation route returned by the camera terminal equipment.
Based on the same inventive concept, referring to fig. 8, an embodiment of the present disclosure provides a terminal, which at least includes:
a memory 801 for storing executable instructions;
a processor 802 for reading and executing executable instructions stored in the memory, performing the following processes:
sending a positioning request to a camera device, enabling the camera device to acquire terminal identification information and a first face image corresponding to a terminal, and after shooting a second face image, determining positioning information of the terminal based on the first face image and the second face image, wherein the positioning request at least carries the first face image corresponding to the terminal, and the positioning information is determined based on the relative position information and the installation position information of the camera device after the camera device identifies a target face from the second face image based on the first face image and determines the relative position information of the terminal relative to the camera device based on the target face;
and receiving the positioning information sent by the camera terminal equipment.
Optionally, when receiving the positioning information sent by the camera device, the processor 802 is specifically configured to:
directly receiving the positioning information sent by the camera terminal equipment; or,
and receiving the positioning information broadcast and sent by the camera terminal equipment in a wireless communication mode based on the terminal identification information.
Optionally, the positioning request further carries target location information, and after receiving the positioning information sent by the camera device, the processor 802 is further configured to:
and receiving a navigation route returned by the camera terminal equipment, wherein the navigation route is planned for the terminal based on the target position information and the positioning information after the camera terminal equipment acquires the target position information from the positioning request.
Optionally, after receiving the positioning information sent by the camera device, the processor 802 is further configured to:
sending a navigation request to the camera terminal equipment, and enabling the camera terminal equipment to plan a navigation route from the current position to the target position for the terminal based on target position information carried in the navigation request and the positioning information;
and receiving the navigation route returned by the camera terminal equipment.
Where in fig. 8 the bus architecture may include any number of interconnected buses and bridges, with one or more processors represented by processor 802 and various circuits of memory represented by memory 801 being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 803 may be a plurality of elements, i.e., including a transmitter and a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 802 is responsible for managing the bus architecture and general processing, and the memory 801 may store data used by the processor 802 in performing operations.
Based on the same inventive concept, the embodiments of the present disclosure provide a storage medium, and when instructions in the storage medium are executed by a processor, the processor is enabled to execute any one of the methods implemented by the camera-side device in the above-described flow.
Based on the same inventive concept, the embodiments of the present disclosure provide a storage medium, and when instructions in the storage medium are executed by a processor, the processor can execute any method implemented by a terminal in the above-mentioned flow.
In summary, in the embodiment of the present disclosure, the camera device receives a positioning request sent by the terminal, acquires terminal identification information and a first face image corresponding to the terminal, then recognizes a target face from a shot second face image, determines relative position information of the terminal with respect to the camera device based on a position of the target face in the second face image, then determines positioning information of the terminal based on the relative position information and the installation position information, and sends the positioning information to the terminal based on the terminal identification information. Like this, through camera end equipment, fix a position the terminal, need not additionally deploy the location basic station in the room, reduced the operation cost, in addition, realize the terminal location through shooting the image, avoided because the GPS signal is weak and lead to the problem of unable location to improve positioning efficiency, promoted positioning accuracy.
For the system/apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It is to be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or operation from another entity or operation without necessarily requiring or implying any actual such relationship or order between such entities or operations.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present disclosure have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the disclosure.
It will be apparent to those skilled in the art that various changes and modifications can be made in the present disclosure without departing from the spirit and scope of the disclosure. Thus, if such modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include such modifications and variations as well.
Claims (10)
1. A terminal positioning method based on camera terminal equipment is characterized by comprising the following steps:
the method comprises the steps that camera terminal equipment receives a positioning request sent by a terminal, wherein the positioning request at least carries a first face image corresponding to the terminal, and terminal identification information and the first face image corresponding to the terminal are obtained based on the positioning request;
the camera terminal equipment shoots a second face image, a target face is recognized from the second face image based on the first face image, and relative position information of the terminal relative to the camera terminal equipment is determined based on the position of the target face in the second face image;
the camera terminal equipment determines the positioning information of the terminal based on the relative position information and the installation position information of the camera terminal equipment;
and the camera terminal equipment sends the positioning information to the terminal based on the terminal identification information.
2. The method according to claim 1, wherein the acquiring, by the camera device, the terminal identification information corresponding to the terminal specifically includes:
if the positioning request carries the terminal identification information, the camera terminal equipment directly acquires the terminal identification information corresponding to the terminal from the positioning request;
if the positioning request does not carry the terminal identification information, the camera terminal equipment acquires a Media Access Control (MAC) address of the terminal in a preset address detection mode, and takes the MAC address as the terminal identification information corresponding to the terminal.
3. The method according to claim 2, wherein the recognizing, by the camera-side device, the target face from the second face image based on the first face image specifically includes:
the camera terminal equipment identifies at least one face contained in the second face image based on the first face image, and respectively determines at least one similarity between the at least one face and the first face image;
the camera terminal equipment takes a face with the highest similarity value as a candidate face based on the at least one similarity;
and when the camera terminal equipment determines that the similarity value of the candidate face and the first face image reaches a preset similarity threshold value, taking the candidate face as a target face.
4. The method according to claim 1, 2 or 3, wherein the camera-side device determines the relative position information of the terminal with respect to the camera-side device based on the position of the target face in the second face image, specifically comprising:
the camera terminal equipment adopts a preset relative position information generation model to determine the relative position information of the terminal relative to the camera terminal equipment based on the position of the target face in the second face image and the installation position information of the camera terminal equipment; and the relative position information generation model is obtained based on the installation position information and each preset sampling position point.
5. The method according to claim 4, wherein the determining, by the camera-side device, the positioning information of the terminal based on the relative position information and the installation position information of the camera-side device specifically comprises:
the camera terminal equipment determines terminal angle information of the terminal based on the offset angle information and the fixed angle information of the camera terminal equipment;
and the camera end equipment determines the positioning information of the terminal based on the terminal angle information, the relative distance information and the fixed position information of the camera end equipment.
6. The method according to claim 1, 2 or 3, wherein the sending, by the camera-side device, the positioning information to the terminal based on the terminal identification information specifically includes:
the camera terminal equipment directly sends the positioning information to the terminal based on the terminal identification information; or,
and the camera terminal equipment broadcasts the terminal identification information and the positioning information in a wireless communication mode, and the terminal is enabled to receive the corresponding positioning information based on the terminal identification information.
7. The method of claim 1, 2 or 3, wherein after the camera-side device sends the positioning information to the terminal based on the terminal identification information, further comprising:
if the positioning request further carries target position information, the camera terminal equipment acquires the target position information from the positioning request;
and the camera terminal equipment plans a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
8. The method of claim 1, 2 or 3, wherein after the camera-side device sends the positioning information to the terminal based on the terminal identification information, further comprising:
the camera terminal equipment receives a navigation request sent by the terminal and acquires target position information from the navigation request;
and the camera terminal equipment plans a navigation route from the current position to the target position for the terminal based on the target position information and the positioning information.
9. A terminal positioning method based on camera terminal equipment is characterized by comprising the following steps:
a terminal sends a positioning request to a camera device, the camera device is enabled to acquire terminal identification information and a first face image corresponding to the terminal, and after a second face image is shot, positioning information of the terminal is determined based on the first face image and the second face image, wherein the positioning request at least carries the first face image corresponding to the terminal, and the positioning information is determined based on the relative position information and the installation position information of the camera device after the camera device identifies a target face from the second face image based on the first face image and determines the relative position information of the terminal relative to the camera device based on the target face;
and the terminal receives the positioning information sent by the camera terminal equipment.
10. The method according to claim 9, wherein the receiving, by the terminal, the positioning information sent by the camera device specifically includes:
the terminal directly receives the positioning information sent by the camera terminal equipment; or,
and the terminal receives the positioning information which is broadcast and sent by the camera terminal equipment in a wireless communication mode based on the terminal identification information.
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