Method for constructing indoor map and related apparatus
This application disclose a method for constructing an indoor map. The method includes: obtaining a plurality of first tracks and a second track, where each first track is a flat-layer track located on an indoor horizontal layer, the second track is a cross-layer track located between different indoor horizontal layers, and a first wireless signal information similarity between each first track point of the first track and each second track point is less than a first threshold; and performing layering on the plurality of first tracks based on a second wireless signal information similarity between the plurality of first tracks, to obtain a layering result, where the layering result may be used to construct an indoor map.
1 . A method for constructing an indoor map, comprising:
obtaining a plurality of first tracks and a second track, wherein each first track is a flat-layer track located on an indoor horizontal layer, the second track is a cross-layer track located between different indoor horizontal layers, each first track comprises a plurality of first track points, the second track comprises a plurality of second track points, each first track point and each second track point comprise wireless signal information at locations of the first track point and the second track point respectively, and a first wireless signal information similarity between each first track point and each second track point is less than a first threshold;
performing layering on the plurality of first tracks based on a second wireless signal information similarity between the plurality of first track points comprised in the plurality of first tracks, to obtain a layering result, wherein the layering result comprises a plurality of horizontal layers and at least one of the plurality of first tracks comprised on each horizontal layer, and first tracks whose second wireless signal information similarity is greater than a second threshold are grouped into a same horizontal layer; and
constructing the indoor map based on the layering result and the second track whereby the layering result excludes track points near the second track being the cross-layer track.
2 . The method according to claim 1 , wherein each second track point further comprises acceleration information and a time at a location of the second track point, and an acceleration of the second track in a time sequence of the time changes from a first state to a second state and then to a third state, wherein
the first state is an increased state in which a change rate is greater than a threshold, the second state is a steady state in which the change rate is less than the threshold, and the third state is a decreased state in which the change rate is greater than the threshold; or
the first state is a decreased state in which a change rate is greater than a threshold, the second state is a steady state in which the change rate is less than the threshold, and the third state is an increased state in which the change rate is greater than the threshold.
3 . The method according to claim 1 , wherein the wireless signal information indicates strength of a wireless signal received at a location and an identifier of a network device that sends the wireless signal.
4 . The method according to claim 1 , wherein the obtaining the plurality of first tracks comprises:
obtaining a plurality of initial tracks, wherein each initial track comprises a plurality of track points, each track point comprises wireless signal information received at a location of the track point, and each initial track is a flat-layer track located on the indoor horizontal layer; and
determining that at least one of the plurality of track points is comprised in the plurality of initial tracks, whose wireless signal information similarity to that of each second track point is less than the first threshold is the first track point, to obtain the first track.
5 . The method according to claim 1 , further comprising:
obtaining a third track point, wherein the third track point comprises wireless signal information and GPS information at a location of the third track point, a wireless signal information similarity between the third track point and a target track point in the plurality of first track points is greater than a third threshold, the GPS information indicates an absolute location of the target track point, and the target track point further comprises a relative location in the plurality of first tracks; and
determining a location conversion relationship based on the absolute location and the relative location, and determining absolute locations of the plurality of first track points based on the location conversion relationship.
6 . The method according to claim 5 , wherein the obtaining the third track point comprises: obtaining a plurality of first candidate track points, and confidence and an indoor/outdoor state of each first candidate track point, wherein each first candidate track point comprises wireless signal information; and
comparing wireless signal similarities between the plurality of first candidate track points and the plurality of first track points based on the confidence, the indoor/outdoor state, and the comprised wireless signal information of each first candidate track point, to determine, from the plurality of first candidate track points, M first candidate track points whose wireless signal similarities are greater than a threshold, wherein each of the M first candidate track points is in an outdoor state and the confidence is greater than the threshold, the M first candidate track points comprise the third track point, and M is a positive integer.
7 . The method according to claim 1 , further comprising:
obtaining a plurality of second candidate track points, wherein each second candidate track point comprises wireless signal information and is in an indoor-outdoor switching state;
comparing wireless signal similarities between the plurality of second candidate track points and the plurality of first track points comprised on each horizontal layer, to determine, from the plurality of first track points comprised on each horizontal layer, a second candidate track point whose wireless signal similarity is greater than a threshold; and
determining, based on a quantity of second candidate track points determined for each of the horizontal layers, an absolute floor number of a horizontal layer with a largest quantity of determined second candidate track points.
8 . The method according to claim 7 , further comprising:
determining an upper-floor and lower-floor relationship between the horizontal layers in the layering result based on upward and downward track information indicated by the second track; and
determining the absolute floor number of each horizontal layer in the layering result based on the absolute floor number of the horizontal layer with the largest quantity of determined second candidate track points and the upper-floor and lower-floor relationship.
9 . A device comprising:
a memory configured to store instructions; and
one or more processors coupled to the memory and configured to execute the instructions to cause the device to:
obtain a plurality of first tracks and a second track, wherein each first track is a flat-layer track located on an indoor horizontal layer, the second track is a cross-layer track located between different indoor horizontal layers, each first track comprises a plurality of first track points, the second track comprises a plurality of second track points, each first track point and each second track point comprise wireless signal information at locations of the first track point and the second track point respectively, and a first wireless signal information similarity between each first track point and each second track point is less than a first threshold;
perform layering on the plurality of first tracks based on a second wireless signal information similarity between the plurality of first track points comprised in the plurality of first tracks, to obtain a layering result, wherein the layering result comprises a plurality of horizontal layers and at least one of the plurality of first tracks comprised on each horizontal layer, and first tracks whose second wireless signal information similarity is greater than a second threshold are grouped into a same horizontal layer; and
construct an indoor map based on the layering result and the second track whereby the layering result excludes track points near the second track being the cross-layer track.
10 . The device according to claim 9 , wherein each second track point further comprises acceleration information and a time at a location of the second track point, and an acceleration of the second track in a time sequence of the time changes from a first state to a second state and then to a third state, wherein
the first state is an increased state in which a change rate is greater than a threshold, the second state is a steady state in which the change rate is less than the threshold, and the third state is a decreased state in which the change rate is greater than the threshold; or
the first state is a decreased state in which a change rate is greater than a threshold, the second state is a steady state in which the change rate is less than the threshold, and the third state is an increased state in which the change rate is greater than the threshold.
11 . The device according to claim 9 , wherein the wireless signal information indicates strength of a wireless signal received at a location and an identifier of a network device that sends the wireless signal.
12 . The device according to claim 9 , wherein when obtaining the plurality of first tracks, the instructions, when executed by the one or more processors, further cause the device to:
obtain a plurality of initial tracks, wherein each initial track comprises a plurality of track points, each track point comprises wireless signal information received at a location of the track point, and each initial track is a flat-layer track located on the indoor horizontal layer; and
determine that at least one of the plurality of track points is comprised in the plurality of initial tracks, whose wireless signal information similarity to that of each second track point is less than the first threshold is the first track point, to obtain the first track.
13 . The device according to claim 9 , wherein the instructions, when executed by the one or more processors, further cause the device to:
obtain a third track point, wherein the third track point comprises wireless signal information and GPS information at a location of the third track point, a wireless signal information similarity between the third track point and a target track point in the plurality of first track points is greater than a third threshold, the GPS information indicates an absolute location of the target track point, and the target track point further comprises a relative location in the plurality of first tracks; and
determine a location conversion relationship based on the absolute location and the relative location, and determining absolute locations of the plurality of first track points based on the location conversion relationship.
14 . The device according to claim 13 , wherein the instructions, when executed by the one or more processors, further cause the device to: obtain a plurality of first candidate track points, and confidence and an indoor/outdoor state of each first candidate track point, wherein each first candidate track point comprises wireless signal information; and
compare wireless signal similarities between the plurality of first candidate track points and the plurality of first track points based on the confidence, the indoor/outdoor state, and the comprised wireless signal information of each first candidate track point, to determine, from the plurality of first candidate track points, M first candidate track points whose wireless signal similarities are greater than a threshold, wherein each of the M first candidate track points is in an outdoor state and the confidence is greater than the threshold, the M first candidate track points comprise the third track point, and M is a positive integer.
15 . The device according to claim 9 , wherein the instructions, when executed by the one or more processors, further cause the device to:
obtain a plurality of second candidate track points, wherein each second candidate track point comprises wireless signal information and is in an indoor-outdoor switching state;
compare wireless signal similarities between the plurality of second candidate track points and the plurality of first track points comprised on each horizontal layer, to determine, from the plurality of first track points comprised on each horizontal layer, a second candidate track point whose wireless signal similarity is greater than a threshold; and
determine, based on a quantity of second candidate track points determined for each of the horizontal layers, an absolute floor number of a horizontal layer with a largest quantity of determined second candidate track points.
16 . The device according to claim 15 , wherein the instructions, when executed by the one or more processors, further cause the device to:
determine an upper-floor and lower-floor relationship between the horizontal layers in the layering result based on upward and downward track information indicated by the second track; and
determine the absolute floor number of each horizontal layer in the layering result based on the absolute floor number of the horizontal layer with the largest quantity of determined second candidate track points and the upper-floor and lower-floor relationship.
17 . A computer program product comprising computer-executable instructions stored on a non-transitory computer-readable storage medium, the computer-executable instructions when executed by one or more processors of an apparatus, cause the apparatus to:
obtain a plurality of first tracks and a second track, wherein each first track is a flat-layer track located on an indoor horizontal layer, the second track is a cross-layer track located between different indoor horizontal layers, each first track comprises a plurality of first track points, the second track comprises a plurality of second track points, each first track point and each second track point comprise wireless signal information at locations of the first track point and the second track point respectively, and a first wireless signal information similarity between each first track point and each second track point is less than a first threshold;
perform layering on the plurality of first tracks based on a second wireless signal information similarity between the plurality of first track points comprised in the plurality of first tracks, to obtain a layering result, wherein the layering result comprises a plurality of horizontal layers and at least one of the plurality of first tracks comprised on each horizontal layer, and first tracks whose second wireless signal information similarity is greater than a second threshold are grouped into a same horizontal layer; and
construct an indoor map based on the layering result and the second track whereby the layering result excludes track points near the second track being the cross-layer track.
18 . The computer program product of claim 17 , wherein each second track point further comprises acceleration information and a time at a location of the second track point, and an acceleration of the second track in a time sequence of the time changes from a first state to a second state and then to a third state, wherein
the first state is an increased state in which a change rate is greater than a threshold, the second state is a steady state in which the change rate is less than the threshold, and the third state is a decreased state in which the change rate is greater than the threshold; or
the first state is a decreased state in which a change rate is greater than a threshold, the second state is a steady state in which the change rate is less than the threshold, and the third state is an increased state in which the change rate is greater than the threshold.
19 . The computer program product of claim 17 , wherein the wireless signal information indicates strength of a wireless signal received at a location and an identifier of a network device that sends the wireless signal.
20 . The computer program product of claim 17 , wherein the computer-executable instructions when executed by the one or more processors of the apparatus, further cause the apparatus to:
obtain a plurality of initial tracks, wherein each initial track comprises a plurality of track points, each track point comprises wireless signal information received at a location of the track point, and each initial track is a flat-layer track located on the indoor horizontal layer; and
determine that a track point, among the plurality of track points comprised in the plurality of initial tracks, whose wireless signal information similarity to that of each second track point is less than the first threshold is the first track point, to obtain the first track.