Method and device for positioning and navigating

• US 9,818,196 B2
• Filed: 11/17/2014
• Issued: 11/14/2017
• Est. Priority Date: 03/31/2014
• Status: Active Grant

• Current Assignee: Xiaomi Inc. (Xiaomi Corp.)
• Original Assignee: Xiaomi Inc. (Xiaomi Corp.)
• Inventors: Zhou, Peng, Yuan, Yanbin
• Primary Examiner(s): Shafi, Muhammad
• Application Number:
  US14/543,106
• Publication Number:
  US 20150279040A1
• Time in Patent Office: 1,093 Days
• Field of Search: 701448
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G06T 2200/24 involving graphical user interfaces [GUIs]
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59

Abstract

A method for positioning and navigating for use in an electronic device, includes: obtaining an initial coordinate of a user; obtaining a preset number of one or more environment pictures in a preset geographic range corresponding to the initial coordinate, and obtaining an absolute coordinate corresponding to each of the obtained environment pictures from a preset correspondence relationship between different environment pictures and different absolute coordinates; obtaining, for each of the obtained environment pictures, a relative position between an object in the environment picture and the user; and determining current geographic position information of the user based on the relative position and the absolute coordinate.

Claims

1. A method for positioning and navigating for use in an electronic device, the electronic device including a processor and a memory for storing instructions executable by the processor, the method comprising:

obtaining, by the processor, an initial coordinate of a user;

obtaining, by the processor, a preset number of one or more environment pictures in a preset geographic range corresponding to the initial coordinate, and obtaining, by the processor, an absolute coordinate corresponding to each of the obtained environment pictures from a preset correspondence relationship between different environment pictures and different absolute coordinates;

obtaining, by the processor, for each of the obtained environment pictures, a relative position between an object in the environment picture and the user; and

determining, by the processor, current geographic position information of the user based on the relative position and the absolute coordinate;

wherein the obtaining of the preset number of environment pictures comprises;

obtaining m candidate pictures in the preset geographic range corresponding to the initial coordinate; and

selecting n environment pictures from the m candidate pictures as the obtained environment pictures, wherein m≧

n>

0;

wherein when the preset number of environment pictures is one and a first environment picture is obtained, the determining comprises;

determining a current orientation of the user based on the relative position obtained for the first environment picture, the absolute coordinate corresponding to the first environment picture, and the initial coordinate of the user; and

determining the initial coordinate as an actual coordinate of the user;

wherein when the preset number of environment pictures is two and first and second environment pictures are obtained, the determining comprises;

determining the current orientation and the actual coordinate of the user based on the relative positions obtained for the first and second environment pictures, respectively, the absolute coordinates corresponding to the first and second environment pictures, respectively, and the initial coordinate of the user; and

wherein when the preset number of environment pictures is three or more, and first, second, third, or more environment pictures are obtained, the determining comprises;

determining the current orientation and the actual coordinate of the user based on the relative positions obtained for the first, second, third, or more environment pictures, respectively, and the absolute coordinates corresponding to the first, second, third, or more environment pictures, respectively.

2. The method according to claim 1, wherein the determining of the current orientation of the user based on the relative position, the absolute coordinate, and the initial coordinate when the preset number of environment pictures is one comprises:

obtaining a reference direction from a first coordinate point corresponding to the initial coordinate of the user to a second coordinate point corresponding to the absolute coordinate of the first environment picture; and

determining the current orientation of the user based on the reference direction and the relative position obtained for the first environment picture.

3. The method according to claim 1, wherein the determining of the current orientation and the actual coordinate of the user based on the relative positions, the absolute coordinates, and the initial coordinate of the user when the preset number of environment pictures is two comprises:

obtaining a straight line which passes through a first coordinate point corresponding to the initial coordinate of the user and a second coordinate point corresponding to the absolute coordinate of the first environment picture;

determining the actual coordinate of the user based on a third coordinate point corresponding to the absolute coordinate of the second environment picture, the straight line, and the relative positions obtained for the first and second environment pictures, respectively; and

determining the current orientation of the user based on the actual coordinate of the user and at least one of the relative positions.

4. The method according to claim 1, wherein the determining of the current orientation and the actual coordinate of the user based on the relative positions, the absolute coordinates, and the initial coordinate of the user when the preset number of environment pictures is two comprises:

obtaining a first straight line which passes through a first coordinate point corresponding to the initial coordinate of the user and a second coordinate point corresponding to the absolute coordinate of the first environment picture, and a second straight line which passes through the first coordinate point corresponding to the initial coordinate of the user and a third coordinate point corresponding to the absolute coordinate of the second environment picture;

determining the current orientation of the user based on the first straight line, the second straight line, and the relative positions obtained for the first and second environment pictures, respectively; and

determining the actual coordinate of the user based on the current orientation of the user and at least one of the relative positions.

5. The method according to claim 1, wherein the determining of the current orientation and the actual coordinate of the user based on the relative positions and the absolute coordinates when the preset number of environment pictures is three comprises:

obtaining a first straight line which passes through a first coordinate point corresponding to the initial coordinate of the user and a second coordinate point corresponding to the absolute coordinate of the first environment picture, a second straight line which passes through the first coordinate point corresponding to the initial coordinate of the user and a third coordinate point corresponding to the absolute coordinate of the second environment picture, and a third straight line which passes through the first coordinate point corresponding to the initial coordinate of the user and a fourth coordinate point corresponding to the absolute coordinate of the third environment picture, respectively;

determining the current orientation of the user based on the first straight line, the second straight line, the third straight line, and the relative positions obtained for the first, second, and third environment pictures, respectively; and

determining the actual coordinate of the user based on the current orientation of the user and at least one of the relative positions.

6. The method according to claim 1, wherein the determining of the current orientation and the actual coordinate of the user based on the relative positions and the absolute coordinates when the preset number of environment pictures is three comprises:

detecting whether the relative positions obtained for the first, second, and third environment pictures meet a preset condition, the preset condition being;

a first one of the relative positions is that the object in the first environment picture is in front of the user, a second of the relative positions is that the object in the second environment picture is on the left of the user, and a third one of the relative positions is that the object in the third environment picture is on the right of the user;

if it is detected that the preset condition is met, obtaining a first straight line which passes through a first coordinate point corresponding to the absolute coordinate of the object on the left of the user and a second coordinate point corresponding to the absolute coordinate of the object on the right of the user;

obtaining a second straight line perpendicular to the first straight line, the second straight line passing through a third coordinate point corresponding to the absolute coordinate of the object in front of the user and the first straight line; and

determining a coordinate of a perpendicular foot of the second straight line as the actual coordinate of the user; and

determining a direction from the perpendicular foot to the third coordinate point as the current orientation of the user.

7. The method according to claim 1, wherein the selecting comprises:

ordering the m candidate pictures according to a preset priority so as to obtain a candidate picture sequence; and

selecting the n environment pictures from the candidate picture sequence.

8. The method according to claim 1, wherein the selecting comprises:

displaying a part or all of the m candidate pictures on the electronic device; and

receiving a selection signal corresponding to n candidate pictures selected from the displayed candidate pictures.

9. The method according to claim 1, wherein the obtaining of the relative position comprises:

displaying a first environment picture of the obtained environment pictures and guide information, the guide information being provided to guide the user to face the object in the first environment picture, and guide the user to move the first environment picture at least one of in a corresponding direction or to a corresponding position, according to the relative position between the object in the first environment picture and the user;

receiving an input signal triggered by the user according to the guide information; and

determining the relative position between the object in the first environment picture and the user according to the input signal.

10. The method according to claim 1, further comprising:

obtaining a destination coordinate of a destination to be reached by the user;

determining at least one route based on the destination coordinate and the current geographic position information of the user; and

displaying the current geographic position information, the destination coordinate, and the at least one route on the electronic device.

11. An electronic device for positioning and navigating, comprising:

a processor; and

a memory for storing instructions executable by the processor;

wherein the processor is configured to;

obtain an initial coordinate of a user;

obtain a preset number of one or more environment pictures in a preset geographic range corresponding to the initial coordinate, and obtain an absolute coordinate corresponding to each of the obtained environment pictures from a preset correspondence relationship between different environment pictures and different absolute coordinates;

obtain, for each of the obtained environment pictures, a relative position between an object in the environment picture and the user; and

determine current geographic position information of the user based on the relative position and the absolute coordinate;

wherein, in obtaining the preset number of environment pictures, the processor is further configured to;

obtain m candidate pictures in the preset geographic range corresponding to the initial coordinate; and

select n environment pictures from the m candidate pictures as the obtained environment pictures, wherein m≧

n>

0;

wherein when the preset number of environment pictures is one and a first environment picture is obtained, the processor is further configured to;

determine a current orientation of the user based on the relative position obtained for the first environment picture, the absolute coordinate corresponding to the first environment picture, and the initial coordinate of the user; and

determine the initial coordinate as an actual coordinate of the user;

wherein when the preset number of environment pictures is two and first and second environment pictures are obtained, the processor is further configured to;

determine the current orientation and the actual coordinate of the user based on the relative positions obtained for the first and second environment pictures, respectively, the absolute coordinates corresponding to the first and second environment pictures, respectively, and the initial coordinate of the user; and

wherein when the preset number of environment pictures is three or more, and first, second, third, or more environment pictures are obtained, the processor is further configured to;

determine the current orientation and the actual coordinate of the user based on the relative positions obtained for the first, second, third, or more environment pictures, respectively, and the absolute coordinates corresponding to the first, second, third, or more environment pictures, respectively.

12. The electronic device according to claim 11, wherein when the preset number of environment pictures is one, the processor is further configured to:

obtain a reference direction from a first coordinate point corresponding to the initial coordinate of the user to a second coordinate point corresponding to the absolute coordinate of the first environment picture; and

determine the current orientation of the user based on the reference direction and the relative position obtained for the first environment picture.

13. The electronic device according to claim 11, wherein when the preset number of environment pictures is two, the processor is further configured to:

obtain a straight line which passes through a first coordinate point corresponding to the initial coordinate of the user and a second coordinate point corresponding to the absolute coordinate of the first environment picture;

determine the actual coordinate of the user based on a third coordinate point corresponding to the absolute coordinate of the second environment picture, the straight line, and the relative positions obtained for the first and second environment pictures, respectively; and

determine the current orientation of the user based on the actual coordinate of the user and at least one of the relative positions.

14. The electronic device according to claim 11, wherein when the preset number of environment pictures is two, the processor is further configured to:

obtain a first straight line which passes through a first coordinate point corresponding to the initial coordinate of the user and a second coordinate point corresponding to the absolute coordinate of the first environment picture, and a second straight line which passes through the first coordinate point corresponding to the initial coordinate of the user and a third coordinate point corresponding to the absolute coordinate of the second environment picture;

determine the current orientation of the user based on the first straight line, the second straight line, and the relative positions obtained for the first and second environment pictures, respectively; and

determine the actual coordinate of the user based on the current orientation of the user and at least one of the relative positions.

15. The electronic device according to claim 11, wherein when the preset number of environment pictures is three, the processor is further configured to:

obtain a first straight line which passes through a first coordinate point corresponding to the initial coordinate of the user and a second coordinate point corresponding to the absolute coordinate of the first environment picture, a second straight line which passes through the first coordinate point corresponding to the initial coordinate of the user and a third coordinate point corresponding to the absolute coordinate of the second environment picture, and a third straight line which passes through the first coordinate point corresponding to the initial coordinate of the user and a fourth coordinate point corresponding to the absolute coordinate of the third environment picture, respectively;

determine the current orientation of the user based on the first straight line, the second straight line, the third straight line, and the relative positions obtained for the first, second, and third environment pictures, respectively; and

determine the actual coordinate of the user based on the current orientation of the user and at least one of the relative positions.

16. The electronic device according to claim 11, wherein when the preset number of environment pictures is three, the processor is further configured to:

detect whether the relative positions obtained for the first, second, and third environment pictures meet a preset condition, the preset condition being;

a first one of the relative positions is that the object in the first environment picture is in front of the user, a second of the relative positions is that the object in the second environment picture is on the left of the user, and a third one of the relative positions is that the object in the third environment picture is on the right of the user;

if it is detected that the preset condition is met, obtain a first straight line which passes through a first coordinate point corresponding to the absolute coordinate of the object on the left of the user and a second coordinate point corresponding to the absolute coordinate of the object on the right of the user;

obtain a second straight line perpendicular to the first straight line, the second straight line passing through a third coordinate point corresponding to the absolute coordinate of the object in front of the user and the first straight line; and

determine a coordinate of a perpendicular foot of the second straight line as the actual coordinate of the user; and

determine a direction from the perpendicular foot to the third coordinate point as the current orientation of the user.