Map display method, device, storage medium and terminal

Patent metadata

Field	Value
Publication number	US-2020173804-A1
Application number	US-202016781817-A
Country	US
Kind code	A1
Filing date	Feb 4, 2020
Priority date	Aug 25, 2017
Publication date	Jun 4, 2020
Grant date	—

Abstract

The present disclosure discloses a map display method performed at a terminal. The method includes: obtaining a real scene image of a current location and target navigation data of navigation from the current location to a destination; determining, according to the current location and the target navigation data, virtual navigation prompt information to be overlaid in the real scene image; determining, according to a device configuration parameter of a target device capturing the real scene image, a first location on which the virtual navigation prompt information is overlaid in the real scene image; performing verification detection on the current device configuration parameter; and overlaying the virtual navigation prompt information on the first location when the current device configuration parameter passes through the verification detection. According to the present disclosure, an AR technology is applied to the navigation field so that map display manners are more diverse and diversified.

First claim

What is claimed is:

1 . A map display method, applied to a terminal having one or more processors and memory storing a plurality of programs to be executed by the one or more processors, the method comprising:
obtaining a real scene image of a current location and target navigation data of navigation from the current location to a destination; determining, according to the current location and the target navigation data, virtual navigation prompt information to be overlaid in the real scene image; determining, according to a current device configuration parameter of a target device capturing the real scene image, a first location on which the virtual navigation prompt information is overlaid in the real scene image; performing verification detection on the current device configuration parameter of the target device using the real scene image; and overlaying the virtual navigation prompt information on the first location in a case that the current device configuration parameter of the target device passes through the verification detection, to obtain an augmented reality image used for performing map display.

2 . The method according to claim 1 , wherein the device configuration parameter comprises an extrinsic parameter and an intrinsic parameter, and the method further comprises:
calculating, for a search granularity that is set for the extrinsic parameter, a cost function value of each search parameter value within a parameter value search range corresponding to a current search granularity, and determining a search parameter value having a minimum cost function value under the current search granularity; determining, based on the search parameter value obtained through the current search, a parameter value search range corresponding to a next search granularity, determining, according to the current search manner, a search parameter value having a minimum cost function value under the next search granularity, and deducing the rest by analogy, until a target search parameter value having a minimum cost function value under a minimum search granularity is obtained, wherein a granularity value of the next search granularity is less than that of the current search granularity; and determining the target search parameter value as a current extrinsic parameter of the target device.

3 . The method according to claim 2 , wherein the calculating a cost function value of each search parameter value within a parameter value search range corresponding to a current search granularity comprises:
obtaining a point target object in the real scene image; determining, for each search parameter value and according to the search parameter value, a second location, in the real scene image, of virtual navigation prompt information matching the point target object; calculating a straight-line distance between the second location and a third location of the point target object, wherein the third location is a location of the point target object detected in the real scene image; and taking the straight-line distance as a cost function value of the search parameter value.

4 . The method according to claim 2 , wherein the calculating a cost function value of each search parameter value within a parameter value search range corresponding to a current search granularity comprises:
obtaining a line target object in the real scene image; determining, for each search parameter value and according to the search parameter value, a fourth location, in the real scene image, of virtual navigation prompt information matching the line target object; calculating a normal distance between the fourth location and a fifth location of the line target object, wherein the fifth location is a location of the line target object detected in the real scene image; and taking the normal distance as a cost function value of the search parameter value.

5 . The method according to claim 1 , wherein the method further comprises:
re-calibrating the device configuration parameter of the target device in a case that no target object is detected in a target image area, in the real scene image, having the first location as a center point; and performing verification detection on the re-calibrated device configuration parameter; and overlaying the determined virtual navigation prompt information in the real scene image of the current location according to the re-calibrated device configuration parameter in a case that the re-calibrated device configuration parameter passes through the verification detection.

6 . The method according to claim 1 , wherein the method further comprises:
collecting statistics on an average value of location errors obtained within a preset time length, wherein a location error is an error between the first location and a sixth location of a target object detected in a target image area, in the real scene image, having the first location as a center point; re-calibrating the device configuration parameter of the target device in a case that the average value is greater than a preset threshold; performing verification detection on the re-calibrated device configuration parameter; and overlaying the determined virtual navigation prompt information in the real scene image of the current location according to the re-calibrated device configuration parameter in a case that the re-calibrated device configuration parameter passes through the verification detection.

7 . The method according to claim 1 , wherein the method further comprises:
re-calibrating the device configuration parameter of the target device in a case that a target object is detected in a target image area, in the real scene image, having the first location as a center point and a location error is greater than a preset threshold, wherein the location error is an error between the first location and a sixth location, in the target image area, of the target object; performing verification detection on the re-calibrated device configuration parameter; and overlaying the determined virtual navigation prompt information in the real scene image of the current location according to the re-calibrated device configuration parameter in a case that the re-calibrated device configuration parameter passes through the verification detection.

8 . The method according to claim 1 , wherein the performing verification detection comprises:
performing target object detection in the target image area, in the real scene image, having the first location as the center point in a case that a verification condition for the device configuration parameter is currently satisfied; and determining, in a case that a target object matching the virtual navigation prompt information is detected and a location error between a sixth location of the target object and the first location is less than the preset threshold, that the device configuration parameter passes through the verification detection.

9 . The method according to claim 1 , wherein the overlaying the virtual navigation prompt information on the first location comprises:
determining, in a case that the virtual navigation prompt information comprises at least two pieces of virtual navigation prompt information, target navigation prompt information having a largest effect on current navigation in the at least two pieces of virtual navigation prompt information; and overlaying the target navigation prompt information in a manner different from that for other virtual navigation prompt information.

10 . The method according to claim 1 , wherein the overlaying the virtual navigation prompt information on the first location comprises:
distinguishably displaying, in a case that the virtual navigation prompt inform

Assignees

• Tencent Tech Shenzhen Co Ltd

Inventors

• Zeng Chao

Classifications

• B60K35/00

  Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles · CPC title

• G06T7/80

  Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration · CPC title

• G01C21/3602

  Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera · CPC title

• G01C21/367 Primary

  Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker · CPC title

• G06T7/50

  Depth or shape recovery · CPC title