Granted Patent B2

US 12,270,674 · App. 17/719,913 · Granted Apr 8, 2025

Inventors: Zhaohui Yang (Beijing, CN); Xuecen Shen (Beijing, CN); Xiao Li (Beijing, CN); Linghao Pu (Beijing, CN); Chuansheng Jia (Beijing, CN)

Assignee: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.

G01C21/3638G01C21/3602G01C21/3647G01C21/367G01C21/3691G01S19/24G01S19/42G06T7/579

Abstract

Claims (73)

1. A method for a route navigation, the method comprising:

performing an augmented reality navigation on a current route based on real-time acquired GPS information of a terminal;

acquiring SLAM (simultaneous localization and mapping) coordinates of the terminal in a SLAM coordinate system;

mapping geographic coordinates of the current route in a geographic coordinate system to SLAM coordinates of the current route in the SLAM coordinate system;

generating a tracking anchor in a 3 D model of a preset map based on the SLAM coordinates of the current route, wherein the tracking anchor is configured to track a road sign or a target point of the current route;

adding an augmented reality model on the tracking anchor, so that the augmented reality model corresponds to the tracking anchor in real time;

converting, in response to determining that the GPS information meets a preset positioning difference condition, the SLAM coordinates of the terminal in the SLAM coordinate system into calculated geographic coordinates in the geographic coordinate system based on a conversion relationship between the SLAM coordinate system and the geographic coordinate system; and

performing the augmented reality navigation on the current route based on the calculated geographic coordinates of the terminal,

wherein before a step of the converting, in response to determining that the GPS information meets the preset positioning difference condition, the SLAM coordinates into the calculated geographic coordinates, the method further comprises:

calculating a length between a current positioning point and a reference positioning point in the SLAM coordinate system;

determining a SLAM coordinate of a projection point in a direction of the current route based on the length between the current positioning point and the reference positioning point, the direction of the current route and a SLAM coordinate of the reference positioning point, wherein the SLAM coordinate of the projection point is equal to a sum of the SLAM coordinate of the reference positioning point and a target value, the target value being determined based on the length between the current positioning point and the reference positioning point, and an included angle between the direction of the current route and a reference direction; and

using the SLAM coordinate of the projection point as a calibrated SLAM coordinate of the current positioning point.

2. The method according to claim 1 , wherein the mapping the actual geographic coordinates to the pose of the SLAM, comprises:

obtaining relative coordinates based on actual reference coordinates in the geographic coordinate system and the actual geographic coordinates;

calculating a rotation matrix based on a pre-obtained deviation angle between the geographic coordinate system and the SLAM coordinate system; and

obtaining the SLAM coordinates based on the relative coordinates and a transpose matrix of the rotation matrix.

3. The method according to claim 1 , wherein the converting, in response to determining that the GPS information meets the preset positioning difference condition, the SLAM coordinates into the calculated geographic coordinates, comprises:

calculating, in response to determining that the GPS information meets the preset positioning difference condition, to obtain a rotation matrix based on the pre-obtained deviation angle;

obtaining the relative coordinates based on the SLAM coordinates and the rotation matrix; and

obtaining the calculated geographic coordinates based on the relative coordinates.

4. The method according to claim 3 , wherein the positioning difference condition comprises at least one of:

a signal strength corresponding to the GPS information being less than or equal to a preset signal value;

geographic coordinates corresponding to the GPS information being not within a preset coordinate range; and

the GPS information corresponding to a building position in a preset map.

5. The method according to claim 1 , wherein adding the augmented reality model on the tracking anchor comprises:

adding an arrow on the tracking anchor.

6. An electronic device, comprising:

at least one processor; and

a memory communicatively connected to 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 perform operations comprising:

performing an augmented reality navigation on a current route based on real-time acquired GPS information of a terminal;

acquiring SLAM (simultaneous localization and mapping) coordinates of the terminal in a SLAM coordinate system;

mapping geographic coordinates of the current route in a geographic coordinate system to SLAM coordinates of the current route in the SLAM coordinate system;

generating a tracking anchor in a 3 D model of a preset map based on the SLAM coordinates of the current route, wherein the tracking anchor is configured to track a road sign or a target point of the current route;

adding an augmented reality model on the tracking anchor, so that the augmented reality model corresponds to the tracking anchor in real time;

converting, in response to determining that the GPS information meets a preset positioning difference condition, the SLAM coordinates of the terminal in the SLAM coordinate system into calculated geographic coordinates in the geographic coordinate system based on a conversion relationship between the SLAM coordinate system and the geographic coordinate system; and

performing the augmented reality navigation on the current route based on the calculated geographic coordinates,

wherein before a step of the converting, in response to determining that the GPS information meets the preset positioning difference condition, the SLAM coordinates into the calculated geographic coordinates, the method further comprises:

calculating a length between a current positioning point and a reference positioning point in the SLAM coordinate system;

determining a SLAM coordinate of a projection point in a direction of the current route based on the length between the current positioning point and the reference positioning point, the direction of the current route and a SLAM coordinate of the reference positioning point, wherein the SLAM coordinate of the projection point is equal to a sum of the SLAM coordinate of the reference positioning point and a target value, the target value being determined based on the length between the current positioning point and the reference positioning point, and an included angle between the direction of the current route and a reference direction; and

using the SLAM coordinate of the projection point as a calibrated SLAM coordinate of the current positioning point.

7. The electronic device according to claim 6 , wherein the mapping the actual geographic coordinates to the pose of the SLAM, comprises:

obtaining relative coordinates based on actual reference coordinates in the geographic coordinate system and the actual geographic coordinates;

calculating a rotation matrix based on a pre-obtained deviation angle between the geographic coordinate system and the SLAM coordinate system; and

obtaining the SLAM coordinates based on the relative coordinates and a transpose matrix of the rotation matrix.

8. The electronic device according to claim 6 , wherein the converting, in response to determining that the GPS information meets the preset positioning difference condition, the SLAM coordinates into the calculated geographic coordinates, comprises:

calculating, in response to determining that the GPS information meets the preset positioning difference condition, to obtain a rotation matrix based on the pre-obtained deviation angle;

obtaining the relative coordinates based on the SLAM coordinates and the rotation matrix; and

obtaining the calculated geographic coordinates based on the relative coordinates.

9. The electronic device according to claim 8 , wherein the positioning difference condition comprises at least one of:

a signal strength corresponding to the GPS information being less than or equal to a preset signal value;

geographic coordinates corresponding to the GPS information being not within a preset coordinate range; and

the GPS information corresponding to a building position in a preset map.

10. A non-transitory computer readable storage medium storing computer instructions, wherein, the computer instructions cause a computer to perform operations comprising:

performing an augmented reality navigation on a current route based on real-time acquired GPS information of a terminal;

acquiring SLAM (simultaneous localization and mapping) coordinates of the terminal in a SLAM coordinate system;

mapping geographic coordinates of the current route in a geographic coordinate system to SLAM coordinates of the current route in the SLAM coordinate system;

generating a tracking anchor in a 3 D model of a preset map based on the SLAM coordinates of the current route, wherein the tracking anchor is configured to track a road sign or a target point of the current route;

adding an augmented reality model on the tracking anchor, so that the augmented reality model corresponds to the tracking anchor in real time;

converting, in response to determining that the GPS information meets a preset positioning difference condition, the SLAM coordinates of the terminal in the SLAM coordinate system into calculated geographic coordinates in the geographic coordinate system based on a conversion relationship between the SLAM coordinate system and the geographic coordinate system; and

performing the augmented reality navigation on the current route based on the calculated geographic coordinates,

wherein before a step of the converting, in response to determining that the GPS information meets the preset positioning difference condition, the SLAM coordinates into the calculated geographic coordinates, the method further comprises:

calculating a length between a current positioning point and a reference positioning point in the SLAM coordinate system;

determining a SLAM coordinate of a projection point in a direction of the current route based on the length between the current positioning point and the reference positioning point, the direction of the current route and a SLAM coordinate of the reference positioning point, wherein the SLAM coordinate of the projection point is equal to a sum of the SLAM coordinate of the reference positioning point and a target value, the target value being determined based on the length between the current positioning point and the reference positioning point, and an included angle between the direction of the current route and a reference direction; and

using the SLAM coordinate of the projection point as a calibrated SLAM coordinate of the current positioning point.

11. The storage medium according to claim 10 , wherein the mapping the actual geographic coordinates to the pose of the SLAM, comprises:

obtaining relative coordinates based on actual reference coordinates in the geographic coordinate system and the actual geographic coordinates;

calculating a rotation matrix based on a pre-obtained deviation angle between the geographic coordinate system and the SLAM coordinate system; and

obtaining the SLAM coordinates based on the relative coordinates and a transpose matrix of the rotation matrix.

12. The storage medium according to claim 10 , wherein the converting, in response to determining that the GPS information meets the preset positioning difference condition, the SLAM coordinates into the calculated geographic coordinates, comprises:

calculating, in response to determining that the GPS information meets the preset positioning difference condition, to obtain a rotation matrix based on the pre-obtained deviation angle;

obtaining the relative coordinates based on the SLAM coordinates and the rotation matrix; and

obtaining the calculated geographic coordinates based on the relative coordinates.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (24)