Image based localization system
US-11354820-B2 · Jun 7, 2022 · US
US12098924B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-12098924-B2 |
| Application number | US-202117382337-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jul 21, 2021 |
| Priority date | Jan 15, 2021 |
| Publication date | Sep 24, 2024 |
| Grant date | Sep 24, 2024 |
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A function control method can be applied to a first device configured with a smart space semantic map and include: determining a first location of the first device in the smart space semantic map; determining, based on the first location, a second device in the smart space semantic map, the second device having the capability of executing a first function; and performing a predetermined action, to cause the second device to execute the first function.
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What is claimed is: 1. A function control method, applied to a first device configured with a smart space semantic map, the method comprising: determining a first location of the first device in the smart space semantic map; determining, based on the first location, a second device in the smart space semantic map, the second device having a capability of executing a first function; and performing a predetermined action, to cause the second device to execute the first function, wherein multiple sample images representing different region locations in the smart space semantic map are stored in advance in the first device; and said determining a first location of the first device in the smart space semantic map comprises: acquiring a first image; determining a first sample image from among multiple pre-stored sample images, features of the first sample image matching features of the first image; and determining, based on a region location represented by the first sample image, a first location of the first device in the smart space semantic map by: in response to that the region location represented by the first sample image is one, determining the region location represented by the first sample image as the first location of the first device in the smart space semantic map; in response to that the region location represented by the first sample image is multiple, acquiring a second image, and determining a second sample image from among multiple pre-stored sample images, and determining, based on a region location represented by the second sample image, the first location of the first device in the smart space semantic map, features of the second sample image matching features of the second image, and the second sample image being different from the first sample image. 2. The function control method according to claim 1 , wherein said determining a first location of the first device in the smart space semantic map comprises: acquiring location information of the first device sent by a third device, the location information being determined by the third device in response to receipt of a location determining instruction triggered at the location of the first device, and the location determining instruction comprising a voice instruction and/or a microwave instruction; and determining, based on the location information, the first location of the first device in the smart space semantic map. 3. The function control method according to claim 1 , wherein the smart space semantic map comprises sub-regions for distinguishing multiple different spatial locations; and said determining, based on the first location, the second device in the smart space semantic map comprises: determining a sub-region corresponding to the first location; and in response to presence of one target operating device having a capability of executing the first function in the sub-region corresponding to the first location, determining the target operating device as the second device. 4. The function control method according to claim 3 , wherein the smart space semantic map comprises sub-regions for distinguishing multiple different spatial locations; and said determining a sub-region corresponding to the first location comprises: determining a sub-region to which the first location belongs as a sub-region corresponding to the first location, and/or determining other sub-regions that are different from the sub-region to which the first location belongs as sub-regions corresponding to the first location. 5. The function control method according to claim 1 , wherein the smart space semantic map comprises sub-regions for distinguishing multiple different spatial locations; and said determining, based on the first location, the second device in the smart space semantic map comprises: determining a sub-region corresponding to the first location; and in response to presence of multiple target operating devices having a capability of executing the first function in the sub-region corresponding to the first location, determining, based on the first location and a target operation of the first device, a second location in the sub-region, and determining a target operating device at the second location as the second device. 6. The function control method according to claim 5 , wherein the target operation comprises a change in a motion trajectory; and said determining, based on the first location and a target operation of the first device, a second location in the sub-region comprises: in response to detecting that a movement trajectory of the first device has changed, determining a changed trajectory direction of the first device; and determining a location where the target operation device is set and in the changed trajectory direction of the first device as determined in the smart space semantic map as the second location. 7. A function control apparatus, applied to a first device configured with a smart space semantic map, the apparatus comprising: a memory device configured to store processor-executable instructions; a processor configured to: determine a first location of the first device in the smart space semantic map, and determine, based on the first location, a second device in the smart space semantic map, the second device having a capability of executing a first function; and perform a predetermined action, to cause the second device to execute the first function, wherein the first device pre-stores multiple sample images representing different region locations in the smart space semantic map; and the processor is further configured to determine a first location of the first device in the smart space semantic map by: acquiring a first image; determining a first sample image from among multiple pre-stored sample images, features of the first sample image matching features of the first image; and determining, based on a region location represented by the first sample image, a first location of the first device in the smart space semantic map by: in response to that the region location represented by the first sample image is one, determining the region location represented by the first sample image as the first location of the first device in the smart space semantic map; in response to that the region location represented by the first sample image is multiple, acquiring a second image, and determining a second sample image from among multiple pre-stored sample images, and determining, based on a region location represented by the second sample image, the first location of the first device in the smart space semantic map, features of the second sample image matching features of the second image, and the second sample image being different from the first sample image. 8. The function control apparatus according to claim 7 , wherein the processor is further configured to determine a first location of the first device in the smart space semantic map by: acquiring location information of the first device sent by a third device, the location information being determined by the third device in response to receipt of a location determining instruction triggered at the location of the first device, and the location determining instruction comprising a voice instruction and/or a microwave instruction; and determining, based on the location information, the first location of the first device in the smart space semantic map. 9. The function control apparatus according to claim 7 , wherein the smart space semantic map comprises sub-regions for distinguishing multiple different spatial locations; and the processor is further configured to determine, based on the first location, the second device in the smart space semantic ma
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