Pose determining method and related device

Patent metadata

Field	Value
Publication number	US-12592086-B2
Application number	US-202217896167-A
Country	US
Kind code	B2
Filing date	Aug 26, 2022
Priority date	Feb 27, 2020
Publication date	Mar 31, 2026
Grant date	Mar 31, 2026

Abstract

A pose determining method, which may be applied to the field of photographing and image processing, includes: obtaining a target image, where the target image includes a target parking space mark and a target parking space line, and a target parking space corresponding to the target parking space mark includes the target parking space line; and determining pose information based on the target parking space mark and the target parking space line. The pose information indicates a corresponding pose of a terminal during photographing of the target image. According to the pose determining method, the pose information may be determined based on the target parking space mark and the target parking space line, to implement positioning.

First claim

What is claimed is:

1 . A pose determining method comprising:
obtaining a target image, wherein the target image comprises a target parking space mark and a target parking space line, and a target parking space corresponding to the target parking space mark comprises the target parking space line; recognizing the target parking space mark in the target image by using optical character recognition; and determining pose information based on the target parking space mark and the target parking space line, wherein the pose information indicates a corresponding pose of a terminal during photographing of the target image; wherein the determining of the pose information based on the target parking space mark and the target parking space line comprises: obtaining a pixel position of the target parking space line in the target image; obtaining position information corresponding to the target parking space line in a digital map, wherein the position information indicates a position of the target parking space line in the digital map; and determining the pose information based on the pixel position and the position information, and the position information includes a preset position of a corner point of a circumscribed frame of the target parking space mark.

2 . The method according to claim 1 , wherein the determining of the pose information based on the target parking space mark and the target parking space line further comprises:
sending the target image to a server; and receiving the pose information sent by the server, wherein the pose information is determined by the server based on the pixel position of the target parking space line in the target image and the position information corresponding to the target parking space line in the digital map, and the position information indicates a position of the target parking space line in the digital map.

3 . The method according to claim 1 , wherein the determining of the pose information based on the target parking space mark and the target parking space line further comprises:
sending the target parking space mark and the pixel position to a server; and receiving the pose information sent by the server, wherein the pose information is determined by the server based on the pixel position and the position information corresponding to the target parking space line in the digital map, and the position information indicates a position of the target parking space line in the digital map.

4 . The method according to claim 1 , wherein the determining of the pose information based on the target parking space mark and the target parking space line further comprises:
sending the target image and the position information to a server; and receiving the pose information sent by the server, wherein the pose information is determined by the server based on the position information and the pixel position of the target parking space line in the target image.

5 . The method according to claim 1 , wherein the obtaining of the target image comprises:
displaying a target photographing interface, wherein the target photographing interface comprises a photographing area, and the photographing area comprises a preset guide contour; and obtaining, through photographing, the target image if the target parking space in the photographing area is located within the preset guide contour or a position difference between a target parking space in the photographing area and the preset guide contour falls within a preset range.

6 . The method according to claim 1 , wherein before the determining of the pose information based on the target parking space mark and the target parking space line, the method further comprises:
displaying a parking space mark input indication box in the target image; and obtaining the target parking space mark input in the parking space mark input indication box.

7 . The method according to claim 1 , wherein the obtaining of the position information corresponding to the target parking space line in the digital map comprises:
obtaining positioning information of the terminal device during photographing of the target image; and obtaining, from the digital map, the position information that matches the positioning information and that corresponds to the target parking space line in the digital map.

8 . The method according to claim 1 , wherein the target parking space line comprises a first parking space line, a second parking space line, and a third parking space line, wherein at least two of the first parking space line, the second parking space line, and the third parking space line are not parallel in the digital map, and a first corner point is an intersection point of the first parking space line and the second parking space line, wherein
the pixel position comprises direction information of the first parking space line, the second parking space line, and the third parking space line in the target image, and the position information comprises preset directions corresponding to the first parking space line, the second parking space line, and the third parking space line in the digital map; or the pixel position comprises direction information of the first parking space line and the second parking space line in the target image, and a pixel position of the first corner point in the target image; and the position information comprises preset directions corresponding to the first parking space line and the second parking space line in the digital map, and a preset position corresponding to the first corner point in the digital map.

9 . The method according to claim 1 , further comprising performing processing based on the pose information in real time, the processing including at least one of navigation, route planning or obstacle avoidance.

10 . A pose determining method comprising:
obtaining a pixel position that is of a circumscribed pattern of a target parking space mark and that is in a target image, wherein the target image comprises the target parking space mark and the circumscribed pattern defines an area in which the target parking space mark is located; obtaining position information corresponding to the circumscribed pattern in a digital map, wherein the position information indicates a coordinate position of the circumscribed pattern in the digital map, wherein the digital map includes the circumscribed pattern and parking space lines; and determining pose information based on the pixel position and the position information, wherein the pose information indicates a corresponding pose of a terminal during photographing of the target image; wherein wherein the circumscribed pattern comprises a first edge line, a second edge line, and a third edge line, wherein at least two of the first edge line, the second edge line, and the third edge line are not parallel in the digital map, and a corner point is an intersection point of the first edge line and the second edge line; and the pixel position comprises direction information of the first edge line and the second edge line in the target image, and a pixel position of the second-corner point in the target image; and the position information comprises preset directions corresponding to the first edge line and the second edge line in the digital map, and a preset position corresponding to the corner point in the digital map.

11 . The method according to claim 10 , wherein the circumscribed pattern comprises a circumscribed rectangular frame.

12 . The method according to claim 10 , further comprising performing processing based on the pose information in real time, the processing including at least one of navigation, route planning or obst

Assignees

• Huawei Tech Co Ltd

Inventors

• Ge Jiange
• Xu Zeying
• Wu Zongwu
• Liu Mu
• Wei Meng

Classifications

• G06T2207/30264

  Parking · CPC title

• G06T2207/30204

  Marker · CPC title

• G06T7/73

  using feature-based methods · CPC title

• G06V10/24

  Aligning, centring, orientation detection or correction of the image · CPC title

• G06T2200/24

  involving graphical user interfaces [GUIs] · CPC title