Granted Patent B2

US 12,209,878 · App. 17/853,495 · Granted Jan 28, 2025

Inventor: Sunan Deng (Beijing, CN)

Assignee: APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECHNOLOGY CO., LTD.

G01C21/365G06T7/337G06T7/74G06T19/006G06T2207/30248

Abstract

Claims (56)

1. A navigation method, comprising:

acquiring a real world image and a navigation information;

converting the real world image to obtain a projection image, wherein the projection image is matched with an eyebox of at least one pair of vehicle-mounted glasses;

superimposing the navigation information on the projection image to obtain a navigation image; and

transmitting to the vehicle-mounted glasses the navigation image so that the navigation image is displayed by the vehicle-mounted glasses.

2. The method according to claim 1 , wherein in a case that the real world image is a first real world image captured by a first image capturing device of an in-vehicle infotainment system, the converting the real world image to obtain a projection image comprises:

acquiring a first positional relationship between a second real world image captured by a second image capturing device of the vehicle-mounted glasses and the eyebox of the vehicle-mounted glasses;

determining a second positional relationship between the first real world image and the second real world image; and

converting the first real world image to obtain the projection image, based on the first positional relationship and the second positional relationship.

3. The method according to claim 2 , wherein the acquiring a first positional relationship between a second real world image captured by a second image capturing device of the vehicle-mounted glasses and the eyebox of the vehicle-mounted glasses comprises determining the first positional relationship based on a position of the second image capturing device of the vehicle-mounted glasses and a position of the eyebox.

4. The method according to claim 2 , wherein the determining a second positional relationship between the first real world image and the second real world image comprises:

performing feature point tracking on the first real world image and the second real world image, and determining the second positional relationship between the first real world image and the second real world image based on a first result of the feature point tracking; or

performing feature point tracking on a third real world image which is captured when the vehicle-mounted glasses is located at a specified position and the first real world image, determining a third positional relationship between the first real world image and the third real world image based on a second result of the feature point tracking, and determining the second positional relationship between the first real world image and the second real world image, based on a current position of the vehicle-mounted glasses, the specified position, and the third positional relationship.

5. The method according to claim 4 , wherein the current position of the vehicle-mounted glasses is obtained based on a positioning system of the vehicle-mounted glasses.

6. The method according to claim 1 , wherein in a case that the real world image is a second real world image captured by a second image capturing device of the vehicle-mounted glasses, the converting the real world image to obtain a projection image comprises:

acquiring a first positional relationship between the second real world image captured by the second image capturing device of the vehicle-mounted glasses and the eyebox of the vehicle-mounted glasses; and

converting the first real world image to obtain the projection image based on the first positional relationship.

7. The method according to claim 4 , wherein the transmitting to the vehicle-mounted glasses the navigation image comprises transmitting to the vehicle-mounted glasses the navigation image through wireless communication.

8. The method according to claim 3 , wherein the determining a second positional relationship between the first real world image and the second real world image comprises:

performing feature point tracking on the first real world image and the second real world image, and determining the second positional relationship between the first real world image and the second real world image based on a first result of the feature point tracking; or

performing feature point tracking on a third real world image which is captured when the vehicle-mounted glasses is located at a specified position and the first real world image, determining a third positional relationship between the first real world image and the third real world image based on a second result of the feature point tracking, and determining the second positional relationship between the first real world image and the second real world image, based on a current position of the vehicle-mounted glasses, the specified position, and the third positional relationship.

9. The method according to claim 2 , wherein in a case that the real world image is a second real world image captured by a second image capturing device of the vehicle-mounted glasses, the converting the real world image to obtain a projection image comprises:

acquiring a first positional relationship between the second real world image captured by the second image capturing device of the vehicle-mounted glasses and the eyebox of the vehicle-mounted glasses; and

converting the first real world image to obtain the projection image based on the first positional relationship.

10. The method according to claim 3 , wherein in a case that the real world image is a second real world image captured by a second image capturing device of the vehicle-mounted glasses, the converting the real world image to obtain a projection image comprises:

acquiring a first positional relationship between the second real world image captured by the second image capturing device of the vehicle-mounted glasses and the eyebox of the vehicle-mounted glasses; and

converting the first real world image to obtain the projection image based on the first positional relationship.

11. The method according to claim 4 , wherein in a case that the real world image is a second real world image captured by a second image capturing device of the vehicle-mounted glasses, the converting the real world image to obtain a projection image comprises:

acquiring a first positional relationship between the second real world image captured by the second image capturing device of the vehicle-mounted glasses and the eyebox of the vehicle-mounted glasses; and

converting the first real world image to obtain the projection image based on the first positional relationship.

12. The method according to claim 5 , wherein in a case that the real world image is a second real world image captured by a second image capturing device of the vehicle-mounted glasses, the converting the real world image to obtain a projection image comprises:

acquiring a first positional relationship between the second real world image captured by the second image capturing device of the vehicle-mounted glasses and the eyebox of the vehicle-mounted glasses; and

converting the first real world image to obtain the projection image based on the first positional relationship.

13. A navigation method, comprising:

receiving a navigation image transmitted by an in-vehicle infotainment system, wherein the navigation image is obtained by superimposing a navigation information on a projection image, the projection image is obtained by converting a real world image, and the projection image is matched with an eyebox of at least one pair of vehicle-mounted glasses; and

displaying the navigation image.

14. An electronic device, comprising:

at least one processor; and

a memory communicatively connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions, when executed by the at least one processor, cause the at least one processor to at least:

acquire a real world image and a navigation information;

convert the real world image to obtain a projection image, wherein the projection image is matched with an eyebox of at least one pair of vehicle-mounted glasses;

superimpose the navigation information on the projection image to obtain a navigation image; and

transmit to the vehicle-mounted glasses the navigation image so that the navigation image is displayed by the vehicle-mounted glasses.

15. The electronic device according to claim 14 , wherein the instructions are further configured to cause the at least one processor to: in a case that the real world image is a first real world image captured by a first image capturing device of an in-vehicle infotainment system,

acquire a first positional relationship between a second real world image captured by a second image capturing device of the vehicle-mounted glasses and the eyebox of the vehicle-mounted glasses;

determine a second positional relationship between the first real world image and the second real world image; and

convert the first real world image to obtain the projection image, based on the first positional relationship and the second positional relationship.

16. The electronic device according to claim 15 , wherein the instructions are further configured to cause the at least one processor to determine the first positional relationship based on a position of the second image capturing device of the vehicle-mounted glasses and a position of the eyebox.

17. The electronic device according to claim 15 , wherein the instructions are further configured to cause the at least one processor to:

perform feature point tracking on the first real world image and the second real world image, and determine the second positional relationship between the first real world image and the second real world image based on a first result of the feature point tracking; or

perform feature point tracking on a third real world image which is captured when the vehicle-mounted glasses is located at a specified position and the first real world image, determine a third positional relationship between the first real world image and the third real world image based on a second result of the feature point tracking, and determine the second positional relationship between the first real world image and the second real world image, based on a current position of the vehicle-mounted glasses, the specified position, and the third positional relationship.

18. The electronic device according to claim 16 , wherein the instructions are further configured to cause the at least one processor to:

perform feature point tracking on the first real world image and the second real world image, and determine the second positional relationship between the first real world image and the second real world image based on a first result of the feature point tracking; or

perform feature point tracking on a third real world image which is captured when the vehicle-mounted glasses is located at a specified position and the first real world image, determine a third positional relationship between the first real world image and the third real world image based on a second result of the feature point tracking, and determine the second positional relationship between the first real world image and the second real world image, based on a current position of the vehicle-mounted glasses, the specified position, and the third positional relationship.

19. A non-transitory computer-readable storage medium having computer instructions therein, the computer instructions, when executed by a computer system, configured to cause the computer system to implement at least the method according to claim 1 .

20. A non-transitory computer-readable storage medium having computer instructions therein, the computer instructions, when executed by a computer system, configured to cause the computer system to implement at least the method according to claim 13 .

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (31)