CN-116188587-B - Positioning method and device and vehicle

CN116188587BCN 116188587 BCN116188587 BCN 116188587BCN-116188587-B

Abstract

The invention provides a positioning method, a positioning device and a vehicle, wherein the positioning method comprises the steps of obtaining a target image, determining at least one map from a plurality of maps as a target map according to environment scenes, determining the environment scenes of different maps, performing image enhancement processing on the target image and/or the map image of the target map under the condition that the environment scenes of the target image are inconsistent with the environment scenes of the target map so that the environment scenes of the target image are consistent with the environment scenes of the map image, comparing the target image with the map image, and determining the corresponding position of the target image according to a comparison result.

Inventors

TAO SHENG
LI CHUNLI
ZHAO HONGFENG
LIN HAI
LI XUEJIAN

Assignees

上海励驰半导体有限公司

Dates

Publication Date: 20260512
Application Date: 20220908

Claims (15)

1. A method of positioning, the method comprising: Acquiring a target image; determining at least one map from a plurality of maps as a target map according to the environment scene, wherein the environment scenes of different maps are different; Under the condition that the environment scene of the target image is inconsistent with the environment scene of the target map, performing image enhancement processing on the target image and/or the map image of the target map so as to enable the environment scene of the target image to be consistent with the environment scene of the map image; the target map comprises a first target map and a second target map, wherein the image enhancement processing is carried out on the target image and/or the map image of the target map, and comprises the steps of obtaining a first environment parameter of the first target map and a second environment parameter of the second target map, carrying out first image enhancement processing on the target image according to the first environment parameter, eliminating a first environment factor of the environment scene of the target image, carrying out second image enhancement processing on the target image after the first image enhancement processing, enabling the environment parameter of the second environment factor of the environment scene of the target image to be consistent with the second environment parameter, or obtaining the first environment parameter of the first target map and the second environment parameter of the second target map, carrying out third image enhancement processing on the target image, enabling the environment parameter of the first environment factor of the environment scene of the target image to be consistent with the first environment parameter, carrying out fourth image enhancement processing on the target image after the third image enhancement processing, and enabling the environment parameter of the second environment factor of the environment scene of the target image to be consistent with the second environment parameter of the target image; comparing the target image with the map image, wherein the environment scenes of the target image are consistent with each other; and determining the position corresponding to the target image according to the comparison result.
2. The method according to claim 1, wherein performing image enhancement processing on the target image and/or a map image of the target map comprises: Acquiring the environment parameters of the target map, performing image enhancement processing on the target image to enable the environment parameters of the target image to be consistent with the environment parameters of the target map, or And performing image enhancement processing on the map image of the target map to enable the environment parameters of the map image to be consistent with the environment parameters of the target map.
3. The method of claim 1, wherein determining the location corresponding to the target image based on the comparison result comprises: Determining a map image that matches the target image; Determining the relative azimuth and distance between the target image and the matched map image; and determining the position corresponding to the target image according to the position corresponding to the map image, the relative azimuth and the distance.
4. The method of claim 1, wherein comparing the target image with the map image for the consistent environmental scene comprises: Extracting image features of the target image; comparing the image features of the target image with the image features of the map image; When the similarity between the image features of the target image and the image features of the map image reaches a threshold value, the target image is matched with the map image; And determining the position corresponding to the target image according to the matched position corresponding to the map image.
5. The method of claim 4, wherein the image features of the map image include a first image feature and a second image feature, the second image feature being used to describe an environmental scene of the map image, the first image feature being used for contrasting a location of the target image with the map image.
6. The method of claim 1, wherein prior to comparing the target image with the map image for a consistent environmental scene, the method comprises: dividing the target image into a plurality of sub-images; Deleting the subgraph of the dynamic barrier; Acquiring the image characteristics of the rest sub-images; and merging the image features of the sub-images to obtain the image features of the target image.
7. The method of claim 1, wherein the plurality of maps are based on image enhancement processing of images.
8. The method of claim 7, wherein the plurality of maps are based on image enhancement processing of images, comprising: Acquiring an original image of a target area; and performing image enhancement processing on the original image of the target area to obtain a plurality of target map images with different environmental scenes.
9. The method of claim 8, wherein the method further comprises: acquiring original image characteristics, wherein the original image characteristics are the image characteristics of the original image; acquiring each enhanced image feature, wherein the enhanced image feature is the image feature of the target map image of each environment scene; Extracting a common part of the original image feature and each enhanced image feature corresponding to the same position as a first image feature of the original image and each target map image; And extracting difference parts of the original image features and the enhanced image features corresponding to the same position as second image features of the corresponding original image and the corresponding target map images.
10. The method of claim 8, wherein acquiring the original image of the target area comprises: Collecting video stream data of a target area, and synchronously collecting geographic position data; And matching the video stream data with the synchronously acquired geographic position data respectively to obtain the original image of the target area corresponding to the geographic position data.
11. The method of claim 8, wherein performing image enhancement processing on the original image of the target area to obtain a target map image comprises: Inputting the original image into a trained model, and performing image enhancement processing on the original image by the trained model to obtain the target map image.
12. The method of claim 11, wherein training the model comprises: Acquiring a plurality of images at the same position, wherein the environment scene of each image is different; And training the model by taking a first image in the images as input and a second image as output, wherein the first image and the second image are different in environmental scene.
13. A positioning device, the device comprising: The acquisition module is used for acquiring a target image; The determining module is used for determining at least one map from the plurality of maps as a target map according to the environment scene, wherein the environment scenes of different maps are different; The enhancement module is used for carrying out image enhancement processing on the target image and/or the map image of the target map under the condition that the environment scene of the target image is inconsistent with the environment scene of the target map so as to enable the environment scene of the target image to be consistent with the environment scene of the map image of the target map; the target map comprises a first target map and a second target map, wherein the image enhancement processing is carried out on the target image and/or the map image of the target map, and comprises the steps of obtaining a first environment parameter of the first target map and a second environment parameter of the second target map, carrying out first image enhancement processing on the target image according to the first environment parameter, eliminating a first environment factor of the environment scene of the target image, carrying out second image enhancement processing on the target image after the first image enhancement processing, enabling the environment parameter of the second environment factor of the environment scene of the target image to be consistent with the second environment parameter, or obtaining the first environment parameter of the first target map and the second environment parameter of the second target map, carrying out third image enhancement processing on the target image, enabling the environment parameter of the first environment factor of the environment scene of the target image to be consistent with the first environment parameter, carrying out fourth image enhancement processing on the target image after the third image enhancement processing, and enabling the environment parameter of the second environment factor of the environment scene of the target image to be consistent with the second environment parameter of the target image; And the positioning module is used for comparing the target image with the same environment scene with the map image of the map, and determining the position corresponding to the target image according to the comparison result.
14. An electronic device, comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-12.
15. A vehicle comprising the electronic device of claim 14.

Description

Positioning method and device and vehicle Technical Field The present disclosure relates to the field of computer vision, and in particular, to a positioning method, a positioning device, and a vehicle. Background The position of the equipment receiving the signal can be determined by satellite positioning signals or other positioning signals, and when the positioning signals are affected, such as signal interference, signal shielding and the like, the positioning can not be realized. By adopting the positioning scheme of the visual map, the positioning can be realized under the environments of satellite positioning signals, bluetooth signals and the like. Visual positioning applications can be widely used for positioning, navigation, etc. of robots, vehicles, etc. Due to the influence of various environmental factors such as illumination, climate and the like, the images acquired by different environmental scenes have large differences, and inaccurate positioning or positioning failure can be caused. Disclosure of Invention The present disclosure provides a positioning method, a positioning device and a vehicle, so as to at least solve the above technical problems in the prior art. According to a first aspect of the present disclosure, there is provided a positioning method, the method comprising: Acquiring a target image; determining at least one map from a plurality of maps as a target map according to the environment scene, wherein the environment scenes of different maps are different; Under the condition that the environment scene of the target image is inconsistent with the environment scene of the target map, performing image enhancement processing on the target image and/or the map image of the target map so as to enable the environment scene of the target image to be consistent with the environment scene of the map image; comparing the target image with the map image, wherein the environment scenes of the target image are consistent with each other; and determining the position corresponding to the target image according to the comparison result. In an embodiment, performing image enhancement processing on the target image and/or the map image of the target map includes: Acquiring the environment parameters of the target map, performing image enhancement processing on the target image to enable the environment parameters of the target image to be consistent with the environment parameters of the target map, or And performing image enhancement processing on the map image of the target map to enable the environment parameters of the map image to be consistent with the environment parameters of the target map. In one embodiment, the target map comprises a first target map and a second target map, and the image enhancement processing is performed on the target image and/or the map image of the target map, including: Acquiring a first environment parameter of the first target map and a second environment parameter of the second target map, performing first image enhancement processing on the target image according to the first environment parameter, eliminating a first environment factor of the environment scene of the target image, performing second image enhancement processing on the target image after the first image enhancement processing to enable the environment parameter of the second environment factor of the environment scene of the target image to be consistent with the second environment parameter, or The method comprises the steps of obtaining a first environment parameter of a first target map and a second environment parameter of a second target map, carrying out third image enhancement processing on the target image to enable the environment parameter of a first environment factor of an environment scene of the target image to be consistent with the first environment parameter, and carrying out fourth image enhancement processing on the target image after the third image enhancement processing to enable the environment parameter of a second environment factor of the environment scene of the target image to be consistent with the second environment parameter. In an embodiment, determining, according to the comparison result, a position corresponding to the target image includes: Determining a map image that matches the target image; Determining the relative azimuth and distance between the target image and the matched map image; and determining the position corresponding to the target image according to the position corresponding to the map image, the relative azimuth and the distance. In an embodiment, comparing the target image with the map image, the target image being consistent with the environment scene, includes: Extracting image features of the target image; comparing the image features of the target image with the image features of the map image; When the similarity between the image features of the target image and the image features of the map image reaches a threshold value, t